AP_NavEKF3: define Yaw alignment min GPS speed per vehicle

ArduPilot · Nov 19, 2023 · 8536878 · 8536878
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commit 8536878
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Showing 2 changed files with 10 additions and 3 deletions.
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
@@ -6,6 +6,16 @@
 #include <GCS_MAVLink/GCS.h>
 #include <AP_DAL/AP_DAL.h>
 
+// minimum GPS horizontal speed required to use GPS ground course for yaw alignment (m/s)
+#if APM_BUILD_TYPE(APM_BUILD_Rover)
+  #define GPS_VEL_YAW_ALIGN_MIN_SPD 0.5F
+#elif APM_BUILD_TYPE(APM_BUILD_ArduPlane)
+  #define GPS_VEL_YAW_ALIGN_MIN_SPD 5.0F
+#else
+  // copter, heli or undefined
+  #define GPS_VEL_YAW_ALIGN_MIN_SPD 2.0F
+#endif
+
 /********************************************************
 *                   RESET FUNCTIONS                     *
 ********************************************************/

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.h b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
@@ -118,9 +118,6 @@
 // number of continuous valid GPS velocity samples required to reset yaw
 #define GPS_VEL_YAW_ALIGN_COUNT_THRESHOLD 5
 
-// minimum GPS horizontal speed required to use GPS ground course for yaw alignment (m/s)
-#define GPS_VEL_YAW_ALIGN_MIN_SPD 5.0F
-
 // maximum GPs ground course uncertainty allowed for yaw alignment (deg)
 #define GPS_VEL_YAW_ALIGN_MAX_ANG_ERR 15.0F