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Large magnetometer innovations on the ground could be caused by factors that will disappear when flying, eg: a) Bad initial gyro bias b) External magnetic field disturbances (adjacent metal structures, placement of hatches with magnets, etc) To avoid unnecessary switches, we inhibit switching until off-ground and when sufficient time has lapsed from power on to learn gyro bias offsets. |
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| .. | ||
| AP_NavEKF2_AirDataFusion.cpp | ||
| AP_NavEKF2_Control.cpp | ||
| AP_NavEKF2_core.cpp | ||
| AP_NavEKF2_core.h | ||
| AP_NavEKF2_MagFusion.cpp | ||
| AP_NavEKF2_Measurements.cpp | ||
| AP_NavEKF2_OptFlowFusion.cpp | ||
| AP_NavEKF2_Outputs.cpp | ||
| AP_NavEKF2_PosVelFusion.cpp | ||
| AP_NavEKF2_VehicleStatus.cpp | ||
| AP_NavEKF2.cpp | ||
| AP_NavEKF2.h | ||
| AP_NavEKF_GyroBias.cpp | ||