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EKF: Move MAG_FUSE_TYPE_AUTOFW control to the expected place

This commit is contained in:
Paul Riseborough 2017-09-13 10:17:15 +10:00
parent e834522f62
commit 6f7f05fdc0
2 changed files with 9 additions and 9 deletions
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10
EKF/control.cpp
View File

@ -1188,7 +1188,15 @@ void Ekf::controlMagFusion()
_control_status.flags.mag_hdg = true;
}
// perform switch-over from only updating the mag states to updating all states
/*
Control switch-over between only updating the mag states to updating all states
When flying as a fixed wing aircraft, a misaligned magnetometer can cause an error in pitch/roll and accel bias estimates.
When MAG_FUSE_TYPE_AUTOFW is selected and the vehicle is flying as a fixed wing, then magnetometer fusion is only allowed
to access the magnetic field states.
*/
_control_status.flags.update_mag_states_only = (_params.mag_fusion_type == MAG_FUSE_TYPE_AUTOFW)
&& _control_status.flags.fixed_wing;
if (!_control_status.flags.update_mag_states_only && _control_status_prev.flags.update_mag_states_only) {
// When re-commencing use of magnetometer to correct vehicle states
// set the field state variance to the observation variance and zero

8
EKF/mag_fusion.cpp
View File

@ -163,14 +163,6 @@ void Ekf::fuseMag()
return;
}
/*
When flying as a fixed wing aircraft, a misaligned magnetometer can cause an error in pitch/roll and accel bias estimates.
When MAG_FUSE_TYPE_AUTOFW is selected and the vehicle is flying as a fixed wing, then magnetometer fusion is only allowed
to access the magnetic field states.
*/
_control_status.flags.update_mag_states_only = (_params.mag_fusion_type == MAG_FUSE_TYPE_AUTOFW)
&& _control_status.flags.fixed_wing;
// update the states and covariance using sequential fusion of the magnetometer components
for (uint8_t index = 0; index <= 2; index++) {