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ekf2: Adjust pre-flight check level

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Reduce max yaw error when not using global frame aiding data to prevent large yaw yaw changes after takeoff.
This commit is contained in:
Paul Riseborough
2017-12-07 22:08:30 +11:00
committed by Lorenz Meier
parent ded9ca13e4
commit b812f95a77
1 changed files with 2 additions and 1 deletions
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src/modules/ekf2/ekf2_main.cpp
+2 -1
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@@ -159,7 +159,7 @@ private:
static constexpr float _nav_yaw_innov_test_lim =
0.25f; ///< Maximum permissible yaw innovation to pass pre-flight checks when aiding inertial nav using NE frame observations (rad)
static constexpr float _yaw_innov_test_lim =
1.0f; ///< Maximum permissible yaw innovation to pass pre-flight checks when not aiding inertial nav using NE frame observations (rad)
0.52f; ///< Maximum permissible yaw innovation to pass pre-flight checks when not aiding inertial nav using NE frame observations (rad)
const float _vel_innov_spike_lim = 2.0f * _vel_innov_test_lim; ///< preflight velocity innovation spike limit (m/sec)
const float _hgt_innov_spike_lim = 2.0f * _hgt_innov_test_lim; ///< preflight position innovation spike limit (m)
filter_control_status_u _ekf_control_mask; ///< Integer mask used by ekf control status
@@ -1272,6 +1272,7 @@ void Ekf2::run()
float yaw_test_limit;
_ekf.get_control_mode(&_ekf_control_mask.value);
bool doing_ne_aiding = _ekf_control_mask.flags.gps || _ekf_control_mask.flags.ev_pos;
if (doing_ne_aiding) {
// use a smaller tolerance when doing NE inertial frame aiding
yaw_test_limit = _nav_yaw_innov_test_lim;