Mathieu Bresciani 74a54b3b12 EKF2: improve resilience against incorrect mag data ...

- when GNSS is used require low mag heading innovations during
  horizontal acceleration (yaw observable) to validate the mag
- only fuse mag heading just enough to constrain the yaw estimate
  variance to a sane value. Leave enough uncertainty to allow for a
  correction when the yaw is observable through GNSS fusion

2023-08-17 09:55:15 -04:00

7.2 KiB

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