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Incomplete magnetometer and heading fusion tuning parameter implementation #34

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priseborough opened this issue Jan 31, 2016 · 2 comments
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Incomplete magnetometer and heading fusion tuning parameter implementation #34

priseborough opened this issue Jan 31, 2016 · 2 comments
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bug enhancement

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@priseborough
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The heading fusion observation noise parameter EKF2_HEAD_NOISE adjusts the observation variance, not the observation noise. It should be adjusting noise and have units of rad
The magnetometer noise parameter EKF2_MAG_NOISE ias actually adjusting the magnetic field state process noise, nor the magnetometer observation noise. It should be renamed.
There is no parameter to adjust the magnetometer observation noise
There is no parameter to control which magnetometer fusion method is used. A suggestion is to provide three options

  1. Auto selection (default)
  2. Always used heading fusion
  3. Always use 3-axis field fusion
@priseborough priseborough self-assigned this Jan 31, 2016
@priseborough
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Addressed by #36

@RomanBapst
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Applied to master, closing.

CarlOlsson added a commit to CarlOlsson/ecl that referenced this issue Apr 18, 2019
@CarlOlsson
Merge pull request PX4#34 from wingtra/fix/zero_gps_alt_ref
ef93125 
gps_checks: Do not initialize until _gps_alt_ref non-zero
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@priseborough @RomanBapst