Pr ekf gps check fix #44
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Make it user selectable. Remove potential for a race condition between decisions based on latest data and the EKF fusion processing which operates on a delayed time horizon. This is achieved by preventing data entering the buffer if awaiting checks to pass ensuring that no EKF fusion time horizon processes can use data that hasn't passed checks. Log the waitingForGpsChecks class variable
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It looks like there is a bug with logged airspeed innovations flat-lining during dead reckoning so I will chase that up now. |
The previous method resulted in data incest and fusion of predicted airspeed on every EKF internal time step. This was not apparent during flight where the vehicle was turning, but during long straight legs did not constrain along track drift.
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Ensure that a fallback for planes will always occur if the EKF is unable to provide attitude, vertical velocity or vertical position and the DCM is. Add separate control over fallback behaviour in FW and VTOL modes
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I'm not convinced that fb38bbb and 25249f9 are necessary, but they do improve accuracy.
I'll follow up with this PR ArduPilot#23999