mirror of
https://github.com/ArduPilot/ardupilot
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f539b597a3
Use the more robust, but less accurate compass heading fusion up to 5m altitude Wait for the magnetometer data fusion time offset to be correct before using data to reset states Don't reset magnetic field states if the vehicle is rotating rapidly as timing offsets will produce large errors When doing the yaw angle reset, apply the reset increment to all quaternions stored in the output buffer to avoid transients produced by yaw rotations and the 0.25 second fusion time horizon offset. Only do the one yaw and mag reset at 5m, not two at 1.5 and 5.0m Always re-do the yaw and mag reset when leaving the ground. |
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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 | ||