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EKF2-yaw estimator: force set gyro bias when at rest #22840

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merged 1 commit into from
Mar 5, 2024
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EKF2-yaw estimator: force set gyro bias when at rest #22840

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4 changes: 2 additions & 2 deletions src/modules/ekf2/EKF/EKFGSF_yaw.h
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Original file line number Diff line number Diff line change
Expand Up @@ -67,11 +67,11 @@ class EKFGSF_yaw

void setTrueAirspeed(float true_airspeed) { _true_airspeed = true_airspeed; }

void setGyroBias(const Vector3f &imu_gyro_bias)
void setGyroBias(const Vector3f &imu_gyro_bias, const bool force = false)
{
// Initialise to gyro bias estimate from main filter because there could be a large
// uncorrected rate gyro bias error about the gravity vector
if (!_ahrs_ekf_gsf_tilt_aligned || !_ekf_gsf_vel_fuse_started) {
if (!_ahrs_ekf_gsf_tilt_aligned || !_ekf_gsf_vel_fuse_started || force) {
// init gyro bias for each model
for (uint8_t model_index = 0; model_index < N_MODELS_EKFGSF; model_index++) {
_ahrs_ekf_gsf[model_index].gyro_bias = imu_gyro_bias;
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2 changes: 1 addition & 1 deletion src/modules/ekf2/EKF/gps_control.cpp
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Expand Up @@ -47,7 +47,7 @@ void Ekf::controlGpsFusion(const imuSample &imu_delayed)
}

if (!gyro_bias_inhibited()) {
_yawEstimator.setGyroBias(getGyroBias());
_yawEstimator.setGyroBias(getGyroBias(), _control_status.flags.vehicle_at_rest);
}

// run EKF-GSF yaw estimator once per imu_delayed update
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