ekf2: zero innov heading up - explain obs_var choice

PX4 · Jun 9, 2023 · ec6b3df · ec6b3df
1 parent 817d466
commit ec6b3df
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/src/modules/ekf2/EKF/zero_innovation_heading_update.cpp b/src/modules/ekf2/EKF/zero_innovation_heading_update.cpp
@@ -48,6 +48,8 @@ void Ekf::controlZeroInnovationHeadingUpdate()
 	    && !yaw_aiding
 	    && isTimedOut(_time_last_heading_fuse, (uint64_t)200'000)) {
 
+		// Use an observation variance larger than usual but small enough
+		// to constrain the yaw variance just below the threshold
 		float obs_var = 0.25f;
 		estimator_aid_source1d_s aid_src_status;
 		Vector24f H_YAW;