EKF: add flt_mag_align_complete to control_status flags

EKF/common.h

@@ -448,6 +448,7 @@ union filter_control_status_u {
 		uint32_t gnd_effect  : 1; ///< 20 - true when protection from ground effect induced static pressure rise is active
 		uint32_t rng_stuck   : 1; ///< 21 - true when rng data wasn't ready for more than 10s and new rng values haven't changed enough
 		uint32_t gps_yaw     : 1; ///< 22 - true when yaw (not ground course) data from a GPS receiver is being fused
+		uint32_t mag_align_complete   : 1; ///< 23 - true when the in-flight mag field alignment has been completed
 	} flags;
 	uint32_t value;
 };

EKF/control.cpp

@@ -1349,7 +1349,7 @@ void Ekf::controlMagFusion()
 	// Also reset the flight alignment flag so that the mag fields will be re-initialised next time we achieve flight altitude
 	if (!_control_status.flags.in_air) {
 		_last_on_ground_posD = _state.pos(2);
-		_flt_mag_align_complete = false;
+		_control_status.flags.mag_align_complete = false;
 		_num_bad_flight_yaw_events = 0;
 	}
 
@@ -1359,7 +1359,7 @@ void Ekf::controlMagFusion()
 
 		// We need to reset the yaw angle after climbing away from the ground to enable
 		// recovery from ground level magnetic interference.
-		if (!_flt_mag_align_complete) {
+		if (!_control_status.flags.mag_align_complete) {
 			// Check if height has increased sufficiently to be away from ground magnetic anomalies
 			// and request a yaw reset if not already requested.
 			_mag_yaw_reset_req |= (_last_on_ground_posD - _state.pos(2)) > 1.5f;
@@ -1368,7 +1368,7 @@ void Ekf::controlMagFusion()
 		// perform a yaw reset if requested by other functions
 		if (_mag_yaw_reset_req) {
 			if (!_mag_use_inhibit ) {
-				_flt_mag_align_complete = resetMagHeading(_mag_sample_delayed.mag) && _control_status.flags.in_air;
+				_control_status.flags.mag_align_complete = resetMagHeading(_mag_sample_delayed.mag) && _control_status.flags.in_air;
 			}
 			_mag_yaw_reset_req = false;
 		}
@@ -1426,16 +1426,16 @@ void Ekf::controlMagFusion()
 			// decide whether 3-axis magnetomer fusion can be used
 			bool use_3D_fusion = _control_status.flags.tilt_align && // Use of 3D fusion requires valid tilt estimates
 					_control_status.flags.in_air && // don't use when on the ground becasue of magnetic anomalies
-					(_flt_mag_align_complete || height_achieved) && // once in-flight field alignment has been performed, ignore relative height
+					(_control_status.flags.mag_align_complete || height_achieved) && // once in-flight field alignment has been performed, ignore relative height
 					((_imu_sample_delayed.time_us - _time_last_movement) < 2 * 1000 * 1000); // Using 3-axis fusion for a minimum period after to allow for false negatives
 
 			// perform switch-over
 			if (use_3D_fusion) {
 				if (!_control_status.flags.mag_3D) {
-					if (!_flt_mag_align_complete) {
+					if (!_control_status.flags.mag_align_complete) {
 						// If we are flying a vehicle that flies forward, eg plane, then we can use the GPS course to check and correct the heading
 						if (_control_status.flags.fixed_wing && _control_status.flags.in_air) {
-							_flt_mag_align_complete = realignYawGPS();
+							_control_status.flags.mag_align_complete = realignYawGPS();
 
 							if (_velpos_reset_request) {
 								resetVelocity();
@@ -1444,10 +1444,10 @@ void Ekf::controlMagFusion()
 							}
 
 						} else {
-							_flt_mag_align_complete = resetMagHeading(_mag_sample_delayed.mag);
+							_control_status.flags.mag_align_complete = resetMagHeading(_mag_sample_delayed.mag);
 						}
 
-						_control_status.flags.yaw_align = _control_status.flags.yaw_align || _flt_mag_align_complete;
+						_control_status.flags.yaw_align = _control_status.flags.yaw_align || _control_status.flags.mag_align_complete;
 
 					} else {
 						// reset the mag field covariances
@@ -1462,7 +1462,7 @@ void Ekf::controlMagFusion()
 				}
 
 				// only use one type of mag fusion at the same time
-				_control_status.flags.mag_3D = _flt_mag_align_complete;
+				_control_status.flags.mag_3D = _control_status.flags.mag_align_complete;
 				_control_status.flags.mag_hdg = !_control_status.flags.mag_3D;
 
 			} else {
@@ -1510,13 +1510,13 @@ void Ekf::controlMagFusion()
 
 		} else if (_params.mag_fusion_type == MAG_FUSE_TYPE_3D) {
 			// if transitioning into 3-axis fusion mode, we need to initialise the yaw angle and field states
-			if (!_control_status.flags.mag_3D || !_flt_mag_align_complete) {
-				_flt_mag_align_complete = resetMagHeading(_mag_sample_delayed.mag);
-				_control_status.flags.yaw_align = _control_status.flags.yaw_align || _flt_mag_align_complete;
+			if (!_control_status.flags.mag_3D || !_control_status.flags.mag_align_complete) {
+				_control_status.flags.mag_align_complete = resetMagHeading(_mag_sample_delayed.mag);
+				_control_status.flags.yaw_align = _control_status.flags.yaw_align || _control_status.flags.mag_align_complete;
 			}
 
 			// use 3-axis mag fusion if reset was successful
-			_control_status.flags.mag_3D = _flt_mag_align_complete;
+			_control_status.flags.mag_3D = _control_status.flags.mag_align_complete;
 			_control_status.flags.mag_hdg = false;
 
 		} else {

EKF/ekf.h

@@ -411,7 +411,6 @@ class Ekf : public EstimatorInterface
 
 	// Variables used to control activation of post takeoff functionality
 	float _last_on_ground_posD{0.0f};	///< last vertical position when the in_air status was false (m)
-	bool _flt_mag_align_complete{false};	///< true when the in-flight mag field alignment has been completed
 	bool _flt_mag_align_converging{false};	///< true when the in-flight mag field post alignment convergence is being performd
 	uint64_t _flt_mag_align_start_time{0};	///< time that inflight magnetic field alignment started (uSec)
 	uint64_t _time_last_movement{0};	///< last system time that sufficient movement to use 3-axis magnetometer fusion was detected (uSec)

EKF/ekf_helper.cpp

@@ -429,7 +429,7 @@ bool Ekf::realignYawGPS()
 			ECL_WARN("EKF bad yaw corrected using GPS course");
 
 			// declare the magnetomer as failed if a bad yaw has occurred more than once
-			if (_flt_mag_align_complete && (_num_bad_flight_yaw_events >= 2) && !_control_status.flags.mag_fault) {
+			if (_control_status.flags.mag_align_complete && (_num_bad_flight_yaw_events >= 2) && !_control_status.flags.mag_fault) {
 				ECL_WARN("EKF stopping magnetometer use");
 				_control_status.flags.mag_fault = true;
 			}
@@ -448,11 +448,11 @@ bool Ekf::realignYawGPS()
 			Eulerf euler321(_state.quat_nominal);
 
 			// apply yaw correction
-			if (!_flt_mag_align_complete) {
+			if (!_control_status.flags.mag_align_complete) {
 				// This is our first flight aligment so we can assume that the recent change in velocity has occurred due to a
 				// forward direction takeoff or launch and therefore the inertial and GPS ground course discrepancy is due to yaw error
 				euler321(2) += courseYawError;
-				_flt_mag_align_complete = true;
+				_control_status.flags.mag_align_complete = true;
 
 			} else if (_control_status.flags.wind) {
 				// we have previously aligned yaw in-flight and have wind estimates so set the yaw such that the vehicle nose is
@@ -765,7 +765,7 @@ bool Ekf::resetMagHeading(Vector3f &mag_init)
 void Ekf::calcMagDeclination()
 {
 	// set source of magnetic declination for internal use
-	if (_flt_mag_align_complete) {
+	if (_control_status.flags.mag_align_complete) {
 		// Use value consistent with earth field state
 		_mag_declination = atan2f(_state.mag_I(1), _state.mag_I(0));