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EKF: Don't start using mag if optical flow use is interrupted 

If magnetometer use is being inhibited because an indoor condition has been detected (optical flow and poor or no GPS) and the optical flow fusion checks fail causing the EKF to stop navigating, we do not want the EKF to start using the magnetometer.
This commit is contained in:
Paul Riseborough 2018-05-15 14:42:20 +10:00 committed by Lorenz Meier
parent 4889e8432c
commit 8191068959
1 changed files with 2 additions and 2 deletions
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4
EKF/control.cpp
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@ -1396,10 +1396,10 @@ void Ekf::controlMagFusion()
// If optical flow is the only aiding source and GPS checks are failing, then assume that we are operating
// indoors and the magnetometer is unreliable. Becasue the optical flow sensor is body fixed, absolute yaw
// wrt North is not required for navigation and it is safer not to use the magnetometer.
if (_control_status.flags.opt_flow
if ((_control_status.flags.opt_flow || _mag_use_inhibit)
&& !_control_status.flags.gps
&& !_control_status.flags.ev_pos
&& ((_time_last_imu - _last_gps_pass_us) > 5E6)) {
&& (_time_last_imu - _last_gps_pass_us > (uint64_t)5e6)) {
_mag_use_inhibit = true;
} else {
_mag_use_inhibit = false;