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EKF: use low pass filtered mag measurements for heading initialization

This commit is contained in:
CarlOlsson 2018-11-21 15:02:42 +01:00 committed by Paul Riseborough
parent 27f7846495
commit 1a969aed07
1 changed files with 2 additions and 2 deletions
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4
EKF/ekf_helper.cpp
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@ -591,7 +591,7 @@ bool Ekf::resetMagHeading(Vector3f &mag_init)
} else if (_params.mag_fusion_type <= MAG_FUSE_TYPE_AUTOFW) {
// rotate the magnetometer measurements into earth frame using a zero yaw angle
Vector3f mag_earth_pred = R_to_earth * _mag_sample_delayed.mag;
Vector3f mag_earth_pred = R_to_earth * mag_init;
// the angle of the projection onto the horizontal gives the yaw angle
euler321(2) = -atan2f(mag_earth_pred(1), mag_earth_pred(0)) + _mag_declination;
@ -649,7 +649,7 @@ bool Ekf::resetMagHeading(Vector3f &mag_init)
} else if (_params.mag_fusion_type <= MAG_FUSE_TYPE_AUTOFW) {
// rotate the magnetometer measurements into earth frame using a zero yaw angle
Vector3f mag_earth_pred = R_to_earth * _mag_sample_delayed.mag;
Vector3f mag_earth_pred = R_to_earth * mag_init;
// the angle of the projection onto the horizontal gives the yaw angle
euler312(0) = -atan2f(mag_earth_pred(1), mag_earth_pred(0)) + _mag_declination;