Later if GNSS becomes good we reset yaw and start (cs_yaw_align=true, cs_gps=true) and ev_yaw stops (if enabled mag is also allowed to start at this point). Does that make sense? In the case of EV_CTRL the bits set which data we say we want to use, but beyond that what we...
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请注意,无论此参数为何值,两种算法都在运行,而且无论是否启用全速率的高程航向参考系统数据记录,都将记录...EKF_POS_GATE(位置阈值)参数设置的限制之比。对于具有良好GPS数据的飞行,偶尔会有超过1/2的峰值,但不应超过1。如果此数值超过1,则表示滤波器在飞行期间停止使用GPS位置数据。对于好的...