this allows for a magnetometer to be used as a fallback yaw source in
flight when using an external yaw source such as a GPS. The
magnetometer bias is learned while the GPS yaw is available and
fallback is only done if the mag yaw and GPS yaw are consistent when
fallback is enabled
This also learns the Z gyro bias until first yaw alignment when
MAG_CAL is EXTERNAL_YAW_FALLBACK. This prevents large gyro bias
building while waiting for GPS lock
when GPS primary switches we were using a position which had not been
corrected for antenna offset. This was used for calculating the reset
for sensor change.
This fixes that (trivial fix) and also fixes a similar issue on
position reset
Adapted from EKF2 implementation as of commits
3835d2613, e9ed3540f and df4fc0fff
this sets a limit on the difference between the earth field from the
WMM tables and the learned earth field inside the EKF. Setting it to
zero disables the feature. A positive value sets the limit in mGauss.
GPS modules tend to be rather optimistic about their yaw accuracy. By
setting a min or 5 degrees we prevent the user constantly getting
warnings about yaw innovations
this moves intermediate variables from being per-core to being common
between cores. This saves memory on systems with more than one core by
avoiding allocating this memory on every core.
This is an alternative to #11717 which moves memory onto the stack. It
doesn't save as much memory as #11717, but avoids creating large stack
frames
when on the ground without a position source we would disable the
innovation gate for the barometer. This meant that a single (or small
number of) really bad baro readings would be fused into the EKF,
causing it to destabilise
Fixes#11903
this prevents the EKF origin on different cores from being initialised
to different values. A common value is stored in the frontend and used
by a core if it doesn't have an origin
Peter Barker
Andrew Tridgell
Paul Riseborough
Daniel Magree
Siddharth Purohit
Peter Hall
Randy Mackay
Mark Whitehorn
Jaaaky
Paul Riseborough
Michael du Breuil