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EKF: tilt_align and uncertainty at high pitch angles #571
Labels
ekf
move to PX4-Autopilot
potential bug
Used for defects in the code that have the potential to create unwanted behaviour
We declare
tilt_align = true
when the roll + pitch uncertainty is lower than 3 degrees.https://github.com/PX4/ecl/blob/c52f4bab1a1655f298778b9a815bbe3c70d91529/EKF/control.cpp#L61-L62
This does not work properly at high pitch angles in the same way as the increase in yaw uncertainty at a heading reset wasn't working before.
E.g. for a tailsitter which is booted up with the body x axis facing upwards the tilt_aligned flag is set to true when the pitch and yaw uncertainty is below 3 degrees.
Sidenote:
Currently yaw_align is set to true in initialiseFilter() before tilt_align is set to true in controlFusionModes().
This leads to the fact that the magnetometer is fused before tilt_align is true
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