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ekf2: don't inhibit accel bias when not in air

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Daniel Agar
2021-11-18 09:53:19 -05:00
parent f3472385da
commit bffd88ad81
1 changed files with 1 additions and 3 deletions
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src/modules/ekf2/EKF/covariance.cpp
+1 -3
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@@ -149,9 +149,7 @@ void Ekf::predictCovariance()
for (unsigned stateIndex = 13; stateIndex <= 15; stateIndex++) {
const unsigned index = stateIndex - 13;
// When on ground, only consider an accel bias observable if aligned with the gravity vector
const bool is_bias_observable = (fabsf(_R_to_earth(2, index)) > 0.8f) || _control_status.flags.in_air;
const bool do_inhibit_axis = do_inhibit_all_axes || !is_bias_observable || _imu_sample_delayed.delta_vel_clipping[index];
const bool do_inhibit_axis = do_inhibit_all_axes || _imu_sample_delayed.delta_vel_clipping[index];
if (do_inhibit_axis) {
// store the bias state variances to be reinstated later