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EKF: Bug in yaw reset variance calculation #548

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CarlOlsson opened this issue Jan 3, 2019 · 1 comment · Fixed by #549
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EKF: Bug in yaw reset variance calculation #548

CarlOlsson opened this issue Jan 3, 2019 · 1 comment · Fixed by #549

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@CarlOlsson
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In resetMagHeading() in ekf_helper.cpp we use the angular error of the last external vision measurement when we calculate the angular error variance vector even if external vision is not activated.

https://github.com/PX4/ecl/blob/4822bf83861513cf330ab1482439ed1c72e99232/EKF/ekf_helper.cpp#L732-L739

The bug seems to have been introduced here
@CarlOlsson CarlOlsson mentioned this issue Jan 3, 2019
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@priseborough
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I'll raise a PR for this. It's a quick fix.

@priseborough priseborough mentioned this issue Jan 4, 2019
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@CarlOlsson CarlOlsson mentioned this issue Jan 29, 2019
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EKF: Fix bug causing incorrect yaw variance value to be used after a reset PX4/PX4-ECL
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@priseborough @CarlOlsson