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EKF allow initializing without baro or mag depending on configuration #931
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bresch
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Nov 4, 2020
priseborough
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Conflicts resolved and rebased on current master. |
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| // we use baro height initially and switch to GPS/range/EV finder later when it passes checks. |
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What happens if those other sensors are not providing data at the time of alignment, eg delayed GPS lock? i on't think the EKF will handle this well. We cannot merge this until the implications of these sensor not being available at alignment has been tested. We should be delaying alignment until the nominated height sensor is returning data that passes quality checks.
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That makes sense, I'll see if that's a viable change.
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- reduce initial number of required mag and baro samples before init
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Let's start with reducing the baro and mag samples and skipping the mag requirement depending on MAG_TYPE. We can come back to |
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baro only required if EKF2_HGT_MODE barometric pressureLATER