ardupilot/libraries/AP_NavEKF3/AP_NavEKF3_GyroBias.cpp

25 lines
687 B
C++

#include "AP_NavEKF3_core.h"
// reset the body axis gyro bias states to zero and re-initialise the corresponding covariances
// Assume that the calibration is performed to an accuracy of 0.5 deg/sec which will require averaging under static conditions
// WARNING - a non-blocking calibration method must be used
void NavEKF3_core::resetGyroBias(void)
{
stateStruct.gyro_bias.zero();
zeroRows(P,10,12);
zeroCols(P,10,12);
P[10][10] = sq(radians(0.5f * dtIMUavg));
P[11][11] = P[10][10];
P[12][12] = P[10][10];
}
/*
vehicle specific initial gyro bias uncertainty in deg/sec
*/
float NavEKF3_core::InitialGyroBiasUncertainty(void) const
{
return 2.5f;
}