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ekf2-gravity: do not estimate accel bias when gravity fusion is active

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Gravity fusion uses the bias corrected accelerometer data to correct the
tilt estimate. We should not continue to estimate the accel bias when
this is active as it creates an unwanted feedback loop.
This commit is contained in:
bresch
2025-01-23 15:23:03 +01:00
committed by Mathieu Bresciani
parent ee30b70a3c
commit c59101e8ed
1 changed files with 2 additions and 2 deletions
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src/modules/ekf2/EKF/ekf_helper.cpp
+2 -2
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@@ -1017,8 +1017,8 @@ void Ekf::updateIMUBiasInhibit(const imuSample &imu_delayed)
} else if (_control_status.flags.fake_hgt) {
is_bias_observable = false;
} else if (_control_status.flags.fake_pos) {
// when using fake position (but not fake height) only consider an accel bias observable if aligned with the gravity vector
} else if (_control_status.flags.fake_pos || _control_status.flags.gravity_vector) {
// only consider an accel bias observable if aligned with the gravity vector
is_bias_observable = (fabsf(_R_to_earth(2, index)) > 0.966f); // cos 15 degrees ~= 0.966
}