Line data    Source code

       1             : #include "AP_NavEKF3_core.h"
       2             : #include <AP_DAL/AP_DAL.h>
       3             : 
       4             : // reset the body axis gyro bias states to zero and re-initialise the corresponding covariances
       5             : // Assume that the calibration is performed to an accuracy of 0.5 deg/sec which will require averaging under static conditions
       6             : // WARNING - a non-blocking calibration method must be used
       7          14 : void NavEKF3_core::resetGyroBias(void)
       8             : {
       9          14 :     stateStruct.gyro_bias.zero();
      10          14 :     zeroStatesVarCov(10, 12);
      11             : 
      12          14 :     P[10][10] = sq(radians(0.5f * dtIMUavg));
      13          14 :     P[11][11] = P[10][10];
      14          14 :     P[12][12] = P[10][10];
      15          14 : }
      16             : 
      17             : /*
      18             :    sensor specific initial gyro bias 1-sigma uncertainty in deg/sec
      19             :  */
      20        5866 : ftype NavEKF3_core::InitialGyroBiasUncertainty(void) const
      21             : {
      22        5866 :     return dal.ins().get_gyro_bias_init_dps(imu_index);
      23             : }
      24             : 
      25             : /*
      26             :    get the gyro bias state clamp (rad/s) for this core's IMU
      27             :  */
      28    19965274 : ftype NavEKF3_core::getGyroBiasLimit(void) const
      29             : {
      30    19965274 :     return dal.ins().get_gyro_bias_limit(imu_index);
      31             : }
      32             :