diff --git a/src/modules/ekf2/EKF/mag_fusion.cpp b/src/modules/ekf2/EKF/mag_fusion.cpp index 1dc2f31c3b..d6b6a593d0 100644 --- a/src/modules/ekf2/EKF/mag_fusion.cpp +++ b/src/modules/ekf2/EKF/mag_fusion.cpp @@ -227,35 +227,52 @@ bool Ekf::fuseDeclination(float decl_sigma) return false; } - // observation variance (rad**2) - const float R_DECL = sq(decl_sigma); + float decl_measurement = NAN; - VectorState H; - float decl_pred; - float innovation_variance; + if ((_params.mag_declination_source & GeoDeclinationMask::USE_GEO_DECL) + && PX4_ISFINITE(_mag_declination_gps) + ) { + decl_measurement = _mag_declination_gps; - // TODO: review getMagDeclination() usage, use mag_I, _mag_declination_gps, or parameter? - sym::ComputeMagDeclinationPredInnovVarAndH(_state.vector(), P, R_DECL, FLT_EPSILON, &decl_pred, &innovation_variance, &H); - - const float innovation = wrap_pi(decl_pred - getMagDeclination()); - - if (innovation_variance < R_DECL) { - // variance calculation is badly conditioned - return false; + } else if ((_params.mag_declination_source & GeoDeclinationMask::SAVE_GEO_DECL) + && PX4_ISFINITE(_params.mag_declination_deg) && (fabsf(_params.mag_declination_deg) > 0.f) + ) { + decl_measurement = math::radians(_params.mag_declination_deg); } - // Calculate the Kalman gains - VectorState Kfusion = P * H / innovation_variance; + if (PX4_ISFINITE(decl_measurement)) { - const bool is_fused = measurementUpdate(Kfusion, innovation_variance, innovation); + // observation variance (rad**2) + const float R_DECL = sq(decl_sigma); - _fault_status.flags.bad_mag_decl = !is_fused; + VectorState H; + float decl_pred; + float innovation_variance; - if (is_fused) { - limitDeclination(); + sym::ComputeMagDeclinationPredInnovVarAndH(_state.vector(), P, R_DECL, FLT_EPSILON, &decl_pred, &innovation_variance, &H); + + const float innovation = wrap_pi(decl_pred - decl_measurement); + + if (innovation_variance < R_DECL) { + // variance calculation is badly conditioned + return false; + } + + // Calculate the Kalman gains + VectorState Kfusion = P * H / innovation_variance; + + const bool is_fused = measurementUpdate(Kfusion, innovation_variance, innovation); + + _fault_status.flags.bad_mag_decl = !is_fused; + + if (is_fused) { + limitDeclination(); + } + + return is_fused; } - return is_fused; + return false; } void Ekf::limitDeclination() @@ -274,7 +291,9 @@ void Ekf::limitDeclination() // set to 50% of the horizontal strength from geo tables if location is known h_field_min = fmaxf(h_field_min, 0.5f * _mag_strength_gps * cosf(_mag_inclination_gps)); - } else if (_params.mag_declination_source & GeoDeclinationMask::SAVE_GEO_DECL) { + } else if ((_params.mag_declination_source & GeoDeclinationMask::SAVE_GEO_DECL) + && PX4_ISFINITE(_params.mag_declination_deg) && (fabsf(_params.mag_declination_deg) > 0.f) + ) { // use parameter value if GPS isn't available decl_reference = math::radians(_params.mag_declination_deg); } diff --git 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