EKF2-yaw estimator: force set gyro bias when at rest

[bresch]

Solved Problem

The yaw estimate from the yaw emergency estimator can drift on ground due to incorrect gyro bias calibration.

Example log where the yaw composite drifts after every landing:

Solution

The gyro bias estimate from EFK2 is really good when at rest and should be used by the yaw estimator to prevent heading drifts due to poor heading observability.

Same log replayed with the fix:

Changelog Entry

For release notes:

Fix yaw emergency estimate drift on ground
New parameter: -
Documentation: No

Test coverage

• EKF2 replay