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Fix mag offset correction from estimated bias #21812

Merged
merged 3 commits into from
Jul 11, 2023
Merged

Fix mag offset correction from estimated bias #21812

merged 3 commits into from
Jul 11, 2023

Commits on Jul 7, 2023

  1. mag_cal: fix mag bias estimate to mag cal 

    - since last_us is set to 0 every time the bias is not observable, the
  total time was also reset -> needed 30 consecutive seconds in mag 3D
  to be declared "stable"
- after landing, the mag_aligned_in_flight flag is reset. Using this for
  bias validity makes it invalid before we have a chance to save it to
  the calibration.
    @bresch
    bresch committed Jul 7, 2023
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  2. ekf2-bias_cal: reduce required stability period 

    For the mag, 30s of bias learning is a lot, given that it is only active
during turns and that it usually converges in < 5 seconds
    @bresch
    bresch committed Jul 7, 2023
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  3. mag_cal: increase uncertainty of calibration parameters 

    in air bias estimation is usually really accurate and should be weighted
more heavily compared to the calibration parameters that are often
more approximate given the worse magnetic environment near the ground.
    @bresch
    bresch committed Jul 7, 2023
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