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Not possible to use yaw from GPS Velocity estimator for ground rovers #902
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lukegluke
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Feb 22, 2021
use-gps-as-height-on-ekf-to-init (PX4#876) use-gps-data-with-increased-precision never-turn-off-yaw-fusion (PX4#905) do-not-use-mag_heading_noise-as-gps-yaw-variance EKF-allow-ekf-init-without-magnetometer control-fix-to-startGpsHgtFusion-again-after-timeout (PX4#951) allow-EKFGSF_yaw-to-work (PX4#902) remove-default-15-m-s-airspeed
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I'm not sure if rovers will have enough horizontal acceleration to enable the GSF to estimate yaw. This will likely require a different mode of yaw alignment and estimation where the assumption of zero sideslip is used. |
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As documentation says:
This also makes it possible to operate without any magnetometer data or dual antenna GPS receiver for yaw provided some horizontal movementafter takeoffcan be performed to enable the yaw to become observable.Yaw EKFGSF estimator is updated only when _control_status.flags.in_air is set
https://github.com/PX4/ecl/blob/f62662ee4688dfc3f1712b50900ef03c9ff55ceb/EKF/ekf_helper.cpp#L1775
This criteria is not relevant for ground rovers, while yaw estimation from GPS without magnetometer is really useful.
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