42214ec303
Vibration in the 400Hz delta angles could cause the angular rate condition check for in-flight magnetic field alignment to fail. The symptons were failure to start magnetic field learning as expected when EK2_MAG_CAL=3 was set. The calculation of a delta rotation between consecutive magnetometer samples has been introduced instead of the most recent IMU delta angle as this is less affected by noise and give an upper bound on the angular error. the check has been moved into the magnetometer fusion control function so that any reset will be performed using fresh magnetometer data |
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| .. | ||
| Models | ||
| AP_Nav_Common.h | ||
| AP_NavEKF.cpp | ||
| AP_NavEKF.h | ||
| AP_SmallEKF.cpp | ||
| AP_SmallEKF.h | ||