AP_NavEKF3: revert to primary compass on ground #29300
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rishabsingh3003
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need to check we don't get an issue with the copter option to save offsets from EKF on disarm, make sure that still works, and saves right offsets for right compass |
rishabsingh3003
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I have briefly tested in SITL that the offsets from EKF get saved properly. This happens because its saved before the vehicle actually disarms. The mag gets changed back to primary after saving the offsets. |
| magFieldLearned = false; | ||
| // reset body mag variances on next CovariancePrediction | ||
| needMagBodyVarReset = true; | ||
| return; |
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looks good to me
@priseborough you OK with this? it matches what we do with primary lane
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PR Overview
This PR adds an integration test to ensure that when the compass is temporarily switched due to a simulated failure in EKF3 during flight, it reverts to the primary compass once on the ground.
- Introduces the TestEKF3CompassFailover function to simulate compass failure and restoration.
- Updates the test sequence to include the new failure/recovery scenario within the existing tests2b block.
Reviewed Changes
| File | Description |
|---|---|
| Tools/autotest/arducopter.py | Adds a new integration test to verify EKF3 compass failover behavior |
Copilot reviewed 3 out of 3 changed files in this pull request and generated no comments.
Comments suppressed due to low confidence (2)
Tools/autotest/arducopter.py:2447
- [nitpick] Consider revising the docstring for clarity, e.g. 'Test if a switched compass reverts to the primary in EKF3 after disarming'.
'''Test if changed compasses goes back to primary in EKF3 on disarm'''
Tools/autotest/arducopter.py:2479
- The extra call to land_and_disarm() after 'Compass restored' may be redundant if the vehicle is already disarmed. If this is intentional, please add a comment to clarify its purpose.
self.land_and_disarm()
Revert to the primary compass if it was changed in flight. The compass might have changed because of landing in an area with high mag interference causing a timeout in the magfusion.
Its more than likely the user wants to go back to flying on the primary mag on subsequent takeoff.
Pushed on top of #29299