a232606fc9
Prolonged yaw rotations with gyro scale factor errors can cause yaw errors and gyro bias estimation errors to build up to a point where EKF health checks fail. This patch introduces the following protections: 1) The assumed yaw gyro error is scaled using a filtered yaw rate and an assumed 3% scale factor error (MPU6000 data sheet) 2) When the filtered yaw rate magnitude is greater than 1 rad/sec, the Z gyro bias process noise is zeroed and the state variance set to zero to inhibit modification of the bias state 3) When the filtered yaw rate magnitude is greater than 1 rad/sec, the magnetometer quaternion corrections are scaled by a factor of four to maintain tighter alignment with the compass |
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| .. | ||
| Models | ||
| AP_Nav_Common.h | ||
| AP_NavEKF.cpp | ||
| AP_NavEKF.h | ||
| AP_SmallEKF.cpp | ||
| AP_SmallEKF.h | ||