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EKF: Fix innovation in fuseDeclination()#590
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priseborough merged 3 commits intoPX4:masterfrom Mar 12, 2019
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…was not zero in fuseDeclination() Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
| @@ -553,7 +551,7 @@ class Ekf : public EstimatorInterface | |||
| bool realignYawGPS(); | |||
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| // calculate the magnetic declination to be used by the alignment and fusion processing | |||
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Now that this is returning the value, please ensure the header documentation indicates the units, eg radians
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// Returns the magnetic declination in radians to be used by the alignment and fusion processing.
| @@ -767,28 +767,28 @@ bool Ekf::resetMagHeading(Vector3f &mag_init, bool increase_yaw_var, bool update | |||
| } | |||
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| // Calculate the magnetic declination to be used by the alignment and fusion processing | |||
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// Return the magnetic declination in radians to be used by the alignment and fusion processing.
priseborough
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Mar 12, 2019
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Mar 13, 2019
Bug Fixes: PX4/PX4-ECL#586 - EKF: fix covariance and output filter buffer initialization PX4/PX4-ECL#590 - EKF: Fix innovation in fuseDeclination() Enhancements: PX4/PX4-ECL#543 - ekf_helper: add more useful methods to interface with the covariances PX4/PX4-ECL#588 - Add unit tests for DataValidator Note: PX4/PX4-ECL#543 has required a change to how the state variances are accessed .
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Mar 14, 2019
Bug Fixes: PX4/PX4-ECL#586 - EKF: fix covariance and output filter buffer initialization PX4/PX4-ECL#590 - EKF: Fix innovation in fuseDeclination() Enhancements: PX4/PX4-ECL#543 - ekf_helper: add more useful methods to interface with the covariances PX4/PX4-ECL#588 - Add unit tests for DataValidator Note: PX4/PX4-ECL#543 has required a change to how the state variances are accessed .
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Before we only calculated the
_mag_declinationvariable before mag fusion, leading to the fact that in fuseDeclination() the innovation was not zero (since mag fusion updated the states) even though mag_align_complete was true.