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EKF: Allow EKF to start without using mag data when not using earth frame data

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Paul Riseborough 2018-06-20 14:06:41 +10:00 committed by Paul Riseborough
parent 572710ed27
commit c49ab760c7
1 changed files with 8 additions and 0 deletions
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8
EKF/ekf_helper.cpp
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@ -595,6 +595,10 @@ bool Ekf::resetMagHeading(Vector3f &mag_init)
// the angle of the projection onto the horizontal gives the yaw angle
euler321(2) = -atan2f(mag_earth_pred(1), mag_earth_pred(0)) + _mag_declination;
} else if (_params.mag_fusion_type == MAG_FUSE_TYPE_INDOOR && _mag_use_inhibit) {
// we are operating without knowing the earth frame yaw angle
return true;
} else {
// there is no yaw observation
return false;
@ -649,6 +653,10 @@ bool Ekf::resetMagHeading(Vector3f &mag_init)
// the angle of the projection onto the horizontal gives the yaw angle
euler312(0) = -atan2f(mag_earth_pred(1), mag_earth_pred(0)) + _mag_declination;
} else if (_params.mag_fusion_type == MAG_FUSE_TYPE_INDOOR && _mag_use_inhibit) {
// we are operating without knowing the earth frame yaw angle
return true;
} else {
// there is no yaw observation
return false;