ekf2: add mag type init #23185
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ekf2: add mag type init #23185
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dagar
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May 30, 2024
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dagar
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May 31, 2024
In this mode, the mag is used to inilialize the heading. During flight, the heading is predicted using gyros and corrected by GNSS measurements if available.
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Solved Problem
I've seen several users that would like to fly without the mag but also being able to takeoff in position/auto mode. This is currently not possible as INS/GNSS heading alignment requires motion.
Solution
Add a new mag type less restrictive than "NONE" that lets run the mag fusion (i.e.:
cs_mag) that is only allowed to align yaw and update the mag states. The implementation is as simple as "not being one of the other modes".Changelog Entry
For release notes:
Test coverage
SITL tests