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Andy Piper
df00d97233
Covers no yaw source, a compass that stops delivering data and GPS yaw lost. The simulated gyro has no bias, so any Z bias the EKF learns is phantom. The yaw reference is removed at arming and the flow scale error doubled, so the bias grows within 40 s of flight rather than 240 s: yaw fused during the climb otherwise holds it down. Flow has to have been fused for a zero bias to mean anything. XKF5 flow innovations do not show that, as they are written before the innovation gate and never cleared, so the test requires that flow fusion started and that aiding never stopped while armed, which with flow as the only aiding source means an update passed the gate at least every 5 s. Debug build, max Z gyro bias in deg/s against a 0.1 limit. Merge-base: no yaw source 0.26 to 0.27 (4 runs), compass lost 0.95 to 1.10 (4 runs), GPS yaw lost 1.09 to 1.26 (3 runs). With the fix: 0.00, 0.01 and 0.01 to 0.02 (3 runs). The test takes about 23 s.