Line data    Source code

       1             : #include <AP_HAL/AP_HAL.h>
       2             : 
       3             : 
       4             : #include "AP_NavEKF2.h"
       5             : #include "AP_NavEKF2_core.h"
       6             : 
       7             : extern const AP_HAL::HAL& hal;
       8             : 
       9             : // reset the body axis gyro bias states to zero and re-initialise the corresponding covariances
      10             : // Assume that the calibration is performed to an accuracy of 0.5 deg/sec which will require averaging under static conditions
      11             : // WARNING - a non-blocking calibration method must be used
      12          12 : void NavEKF2_core::resetGyroBias(void)
      13             : {
      14          12 :     stateStruct.gyro_bias.zero();
      15          12 :     zeroRows(P,9,11);
      16          12 :     zeroCols(P,9,11);
      17             : 
      18          12 :     P[9][9] = sq(radians(0.5 * dtIMUavg));
      19          12 :     P[10][10] = P[9][9];
      20          12 :     P[11][11] = P[9][9];
      21          12 : }
      22             : 
      23             : /*
      24             :    vehicle specific initial gyro bias uncertainty in deg/sec
      25             :  */
      26         558 : ftype NavEKF2_core::InitialGyroBiasUncertainty(void) const
      27             : {
      28         558 :     return 2.5;
      29             : }
      30             :