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AP_NavEKF3: define Yaw alignment min GPS speed per vehicle #24206

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merged 1 commit into from Mar 25, 2024
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AP_NavEKF3: define Yaw alignment min GPS speed per vehicle #24206

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7 changes: 7 additions & 0 deletions libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
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Expand Up @@ -6,6 +6,13 @@
#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_ArduPlane)
#define GPS_VEL_YAW_ALIGN_MIN_SPD 5.0F
#else
#define GPS_VEL_YAW_ALIGN_MIN_SPD 1.0F
#endif

/********************************************************
* RESET FUNCTIONS *
********************************************************/
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3 changes: 0 additions & 3 deletions libraries/AP_NavEKF3/AP_NavEKF3_core.h
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Expand Up @@ -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

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