forked from Archive/PX4-Autopilot
ekf2: improve tilt leveling speed
Starting with no yaw uncertainty makes the tilt more observable when using fake position fusion during the quasi-stationary alignment phase.
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@ -53,7 +53,7 @@ void Ekf::initialiseCovariance()
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{
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P.zero();
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resetQuatCov();
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resetQuatCov(0.f); // Start with no initial uncertainty to improve fine leveling through zero vel/pos fusion
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// velocity
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#if defined(CONFIG_EKF2_GNSS)
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@ -271,7 +271,7 @@ void Ekf::resetQuatCov(const float yaw_noise)
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// update the yaw angle variance using the variance of the measurement
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if (PX4_ISFINITE(yaw_noise)) {
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// using magnetic heading tuning parameter
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yaw_var = math::max(sq(yaw_noise), yaw_var);
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yaw_var = sq(yaw_noise);
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}
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resetQuatCov(Vector3f(tilt_var, tilt_var, yaw_var));
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