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https://github.com/ArduPilot/ardupilot.git
synced 2026-10-06 19:00:27 +08:00
Thomas Watson
528e010c53
These are always called together and always called with `P` as the first argument. `P` must remain symmetric, so merging them removes chances for bugs and saves flash.
33 lines
919 B
C++
33 lines
919 B
C++
#include "AP_NavEKF3_core.h"
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#include <AP_DAL/AP_DAL.h>
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// reset the body axis gyro bias states to zero and re-initialise the corresponding covariances
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// Assume that the calibration is performed to an accuracy of 0.5 deg/sec which will require averaging under static conditions
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// WARNING - a non-blocking calibration method must be used
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void NavEKF3_core::resetGyroBias(void)
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{
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stateStruct.gyro_bias.zero();
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zeroStatesVarCov(10, 12);
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P[10][10] = sq(radians(0.5f * dtIMUavg));
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P[11][11] = P[10][10];
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P[12][12] = P[10][10];
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}
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/*
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sensor specific initial gyro bias 1-sigma uncertainty in deg/sec
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*/
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ftype NavEKF3_core::InitialGyroBiasUncertainty(void) const
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{
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return dal.ins().get_gyro_bias_init_dps(imu_index);
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}
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/*
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get the gyro bias state clamp (rad/s) for this core's IMU
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*/
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ftype NavEKF3_core::getGyroBiasLimit(void) const
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{
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return dal.ins().get_gyro_bias_limit(imu_index);
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}
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