AP_NavEKF3: Use the correct extnav variances for posvel fusion #29420
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rmackay9
reviewed
Mar 3, 2025
| #if EK3_FEATURE_EXTERNAL_NAV | ||
| } else if (extNavUsedForPos) { | ||
| if (extNavUsedForPos) { | ||
| R_OBS[3] = sq(constrain_ftype(extNavDataDelayed.posErr, 0.01f, 10.0f)); |
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It's existing code but we could make the upper constraint consistent between GPS and ExtNav (e.g. 100). This is scope creep though so no need to change for this PR unless you want to
rmackay9
reviewed
Mar 3, 2025
| @@ -720,27 +720,29 @@ void NavEKF3_core::FuseVelPosNED() | |||
| R_OBS[4] = R_OBS[0]; | |||
| for (uint8_t i=0; i<=2; i++) R_OBS_DATA_CHECKS[i] = R_OBS[i]; | |||
| } else { | |||
| #if EK3_FEATURE_EXTERNAL_NAV | |||
| if (extNavVelToFuse && frontend->sources.useVelXYSource(AP_NavEKF_Source::SourceXY::EXTNAV)) { | |||
| R_OBS[2] = R_OBS[0] = sq(constrain_ftype(extNavVelDelayed.err, 0.05f, 5.0f)); | |||
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again, we could make the upper constraint consistent by making it 50 instead of 5
rmackay9
approved these changes
Mar 3, 2025
|
Maybe this PR resolves #24020? |
|
@priseborough can you have a look? |
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Currently, the variance for ext nav is never used if a healthy GPS is connected and even if not set as a EK3_SRC_ source.