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fix(ekf2): remove heading corrections from gravity fusion (#26694)

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Mathieu Bresciani
2026-03-09 20:31:44 +01:00
committed by GitHub
parent 0640cc9e35
commit 1a0b7dae9d
1 changed files with 3 additions and 0 deletions
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src/modules/ekf2/EKF/aid_sources/gravity/gravity_fusion.cpp
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@@ -110,6 +110,9 @@ void Ekf::controlGravityFusion(const imuSample &imu)
const bool accel_clipping = imu.delta_vel_clipping[0] || imu.delta_vel_clipping[1] || imu.delta_vel_clipping[2]; const bool accel_clipping = imu.delta_vel_clipping[0] || imu.delta_vel_clipping[1] || imu.delta_vel_clipping[2];
if (_control_status.flags.gravity_vector && !_aid_src_gravity.innovation_rejected && !accel_clipping) { if (_control_status.flags.gravity_vector && !_aid_src_gravity.innovation_rejected && !accel_clipping) {
// Prevent heading corrections through gravity fusion due to correlations between tilt and heading in P
K(State::quat_nominal.idx + 2) = 0.f;
fused[index] = measurementUpdate(K, H, fused[index] = measurementUpdate(K, H,
_aid_src_gravity.observation_variance[index], _aid_src_gravity.innovation[index]); _aid_src_gravity.observation_variance[index], _aid_src_gravity.innovation[index]);
} }