[4.4.2] GPS Rescue IMU adaptation 0.2 #12845
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This PR definitely does improve behaviour when a rescue is initiated with a high-grade IMU disorientation problem. However, in winds above about 30-40kph rescues may fail when the IMU is disoriented from extended prior drift at angles opposite to the direction of the nose of the quad. Higher gps rescue max angle values will typically work better in higher wind in these settings. More work on handling IMU disorientation is needed, and this is a heuristic fix. Even so, this PR is OK to merge. It has been tested and is the most reliable code we have at present when faced with this particular problem. |
ctzsnooze
approved these changes
May 30, 2023
KarateBrot
requested changes
May 31, 2023
KarateBrot
approved these changes
May 31, 2023
blckmn
approved these changes
May 31, 2023
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Backport of #12841