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AP_AHRS: special handling for flying fixed wing with no compass

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we need to accept EKF having no absolute position and velocity before
takeoff with no compass
This commit is contained in:
Andrew Tridgell 2016-05-27 10:18:53 +10:00
parent de15928921
commit d17e3b17bf
1 changed files with 20 additions and 4 deletions
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24
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -807,10 +807,26 @@ AP_AHRS_NavEKF::EKF_TYPE AP_AHRS_NavEKF::active_EKF_type(void) const
return EKF_TYPE_NONE;
}
if (!filt_state.flags.attitude ||
!filt_state.flags.horiz_vel ||
!filt_state.flags.vert_vel ||
!filt_state.flags.horiz_pos_abs ||
!filt_state.flags.vert_pos) {
!filt_state.flags.vert_vel ||
!filt_state.flags.vert_pos) {
return EKF_TYPE_NONE;
}
if (!filt_state.flags.horiz_vel ||
!filt_state.flags.horiz_pos_abs) {
if ((!_compass || !_compass->use_for_yaw()) &&
_gps.status() >= AP_GPS::GPS_OK_FIX_3D &&
_gps.ground_speed() < 2) {
/*
special handling for non-compass mode when sitting
still. The EKF may not yet have aligned its yaw. We
accept EKF as healthy to allow arming. Once we reach
speed the EKF should get yaw alignment
*/
if (filt_state.flags.pred_horiz_pos_abs &&
filt_state.flags.pred_horiz_pos_rel) {
return ret;
}
}
return EKF_TYPE_NONE;
}
}