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ekf2: mag fusion don't update all states if mag_fault or mag_field_disturbed

This commit is contained in:
Daniel Agar 2022-03-21 21:17:49 -04:00
parent a41a0e7e80
commit 65a587e56a
1 changed files with 2 additions and 1 deletions
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3
src/modules/ekf2/EKF/mag_control.cpp
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@ -353,7 +353,8 @@ void Ekf::run3DMagAndDeclFusions(const Vector3f &mag)
{
// For the first few seconds after in-flight alignment we allow the magnetic field state estimates to stabilise
// before they are used to constrain heading drift
const bool update_all_states = ((_imu_sample_delayed.time_us - _flt_mag_align_start_time) > (uint64_t)5e6);
const bool update_all_states = ((_imu_sample_delayed.time_us - _flt_mag_align_start_time) > (uint64_t)5e6)
&& !_control_status.flags.mag_fault && !_control_status.flags.mag_field_disturbed;
if (!_mag_decl_cov_reset) {
// After any magnetic field covariance reset event the earth field state