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EKF: use hagl estimate if valid for when to trigger yaw reset on takeoff

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CarlOlsson
2019-02-04 09:57:23 +01:00
committed by Paul Riseborough
parent 8b4ae48c69
commit 938c8ad9ad
1 changed files with 2 additions and 1 deletions
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EKF/control.cpp
+2 -1
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@@ -1385,7 +1385,8 @@ void Ekf::controlMagFusion()
if (!_control_status.flags.mag_align_complete) { if (!_control_status.flags.mag_align_complete) {
// Check if height has increased sufficiently to be away from ground magnetic anomalies // Check if height has increased sufficiently to be away from ground magnetic anomalies
// and request a yaw reset if not already requested. // and request a yaw reset if not already requested.
_mag_yaw_reset_req |= ((_last_on_ground_posD - _state.pos(2)) > 1.5f); float terrain_vpos_estimate = get_terrain_valid() ? _terrain_vpos : _last_on_ground_posD;
_mag_yaw_reset_req |= (terrain_vpos_estimate - _state.pos(2)) > 1.5f;
} }
// perform a yaw reset if requested by other functions // perform a yaw reset if requested by other functions