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EKF: Critical yaw reset bug fix #544
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…g fusion Previously, the reset of the yaw when climbing above 1.5m was not performed until 3-axis fusion was enabled. This could result in loss of navigation depending on the value of EKF2_MAG_TYPE and the flight profile.
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@LorenzMeier Can you please merge? |
dagar
approved these changes
Jan 3, 2019
This was referenced Jan 18, 2019
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Hello, |
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Due to a combination of previous changes, the reset of the yaw when climbing above 1.5m was not performed until 3-axis fusion was enabled. This could result in loss of navigation if the ground level magnetic declination error was large enough and the value of EKF2_MAG_TYPE and the flight profile did not cause the EKF to commence 3-axis fusion.
SITL test log before fix: https://logs.px4.io/plot_app?log=c9f62df4-3898-4e61-b6e0-791d984ea964
SITL test log after fix: https://logs.px4.io/plot_app?log=66c9b4a1-1d67-4b66-a424-fc7e5b165075
These were tested using the following modification to sitl_gazebo: priseborough/sitl_gazebo@16a86ee
We need a way to incorporate this type of magnetic field error into the reversion testing.