EKF init improvements

2 files changed, 19 insertions, 5 deletions

diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
index 5ce6bdb0a..ee1561280 100644
--- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
@@ -610,6 +610,10 @@ FixedwingEstimator::check_filter_state()
 		rep.health_flags |= (((uint8_t)ekf_report.posHealth)	<< 1);
 		rep.health_flags |= (((uint8_t)ekf_report.hgtHealth)	<< 2);
 		rep.health_flags |= (((uint8_t)!ekf_report.gyroOffsetsExcessive)	<< 3);
+		// rep.health_flags |= (((uint8_t)ekf_report.onGround)	<< 4);
+		// rep.health_flags |= (((uint8_t)ekf_report.staticMode)	<< 5);
+		// rep.health_flags |= (((uint8_t)ekf_report.useCompass)	<< 6);
+		// rep.health_flags |= (((uint8_t)ekf_report.useAirspeed)	<< 7);
 
 		rep.timeout_flags |= (((uint8_t)ekf_report.velTimeout)	<< 0);
 		rep.timeout_flags |= (((uint8_t)ekf_report.posTimeout)	<< 1);
@@ -1246,6 +1250,10 @@ FixedwingEstimator::task_main()
 						_ekf->FuseVelposNED();
 
 					} else if (!_gps_initialized) {
+
+						// force static mode
+						_ekf->staticMode = true;
+
 						// Convert GPS measurements to Pos NE, hgt and Vel NED
 						_ekf->velNED[0] = 0.0f;
 						_ekf->velNED[1] = 0.0f;
diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
index f33a1d780..e83c37bbd 100644
--- a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
+++ b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
@@ -2206,7 +2206,7 @@ void AttPosEKF::calcLLH(float posNED[3], double &lat, double &lon, float &hgt, d
 
 void AttPosEKF::OnGroundCheck()
 {
-    onGround = (((sq(velNED[0]) + sq(velNED[1]) + sq(velNED[2])) < 4.0f) && (VtasMeas < 6.0f));
+    onGround = (((sq(velNED[0]) + sq(velNED[1]) + sq(velNED[2])) < 4.0f) && (VtasMeas < 8.0f));
     if (staticMode) {
         staticMode = (!refSet || (GPSstatus < GPS_FIX_3D));
     }
@@ -2806,12 +2806,18 @@ void AttPosEKF::InitializeDynamic(float (&initvelNED)[3], float declination)
     current_ekf_state.statesNaN = false;
 
     current_ekf_state.velHealth = true;
-    //current_ekf_state.posHealth = ?;
-    //current_ekf_state.hgtHealth = ?;
+    current_ekf_state.posHealth = true;
+    current_ekf_state.hgtHealth = true;
     
     current_ekf_state.velTimeout = false;
-    //current_ekf_state.posTimeout = ?;
-    //current_ekf_state.hgtTimeout = ?;
+    current_ekf_state.posTimeout = false;
+    current_ekf_state.hgtTimeout = false;
+
+    fuseVelData = false;
+    fusePosData = false;
+    fuseHgtData = false;
+    fuseMagData = false;
+    fuseVtasData = false;
 
     // Fill variables with valid data
     velNED[0] = initvelNED[0];