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AP_NavEKF2: Don't perform emergency yaw reset unless commanded externally

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This limits the use of the reset to situations where it is a last ditch resort before a lane switch and failsafe.
This will limit false positives for general deployment, but still provide protection from fly-aways at the cost of some increase in reaction time.
This commit is contained in:
Paul Riseborough
2020-05-14 10:40:48 +10:00
committed by Andrew Tridgell
parent fc28cd4fa2
commit c94de61e29
1 changed files with 0 additions and 7 deletions
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libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
-7
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@@ -234,7 +234,6 @@ void NavEKF2_core::setAidingMode()
// Check if the loss of position accuracy has become critical
bool posAidLossCritical = false;
bool posAidLossPending = false;
if (!posAiding ) {
uint16_t maxLossTime_ms;
if (!velAiding) {
@@ -245,9 +244,6 @@ void NavEKF2_core::setAidingMode()
posAidLossCritical = (imuSampleTime_ms - lastRngBcnPassTime_ms > maxLossTime_ms) &&
(imuSampleTime_ms - lastExtNavPassTime_ms > maxLossTime_ms) &&
(imuSampleTime_ms - lastPosPassTime_ms > maxLossTime_ms);
posAidLossPending = (imuSampleTime_ms - lastRngBcnPassTime_ms > (uint32_t)frontend->_gsfResetDelay) &&
(imuSampleTime_ms - lastExtNavPassTime_ms > (uint32_t)frontend->_gsfResetDelay) &&
(imuSampleTime_ms - lastPosPassTime_ms > (uint32_t)frontend->_gsfResetDelay);
}
if (attAidLossCritical) {
@@ -267,9 +263,6 @@ void NavEKF2_core::setAidingMode()
velTimeout = true;
rngBcnTimeout = true;
gpsNotAvailable = true;
} else if (posAidLossPending) {
// attempt to reset the yaw to the estimate from the EKF-GSF algorithm
EKFGSF_yaw_reset_request_ms = imuSampleTime_ms;
}
break;
}