it is always there as a fallback when using a compass if the mag innovations get too high and exceed the ekf mag gate limit…but that is an “under the hood” operation that the non-advanced user does not need to know about…therefore, its not something I would add to the vehicle wiki…a dev might add it in the developer section…
always there…switches in or out as needed…just like many of the EKF recovery mechanisms…its not a quick thing however…innovations have to be outside limits for a bit for the switch and it takes a while to switch back if mag innovations recover (they usually do not, since its either bad cal or dead compass)
sorry, cant answer that…Randy might
4/5. notice that this page is not in the normal wiki…its in the UPCOMING FEATURES section…master only stuff…when it will appear in a stable release is unknown…
@hwurzburg this helped a lot to further understand GSF. I still have a query, what happens when GPS is the source for yaw (moving Baseline), none of the EK3_SRCn_YAW is set to GSF and any one of the GPS goes bad.
Will GSF correct the heading?
it should do, yes, as long as one of the GPS modules can still provide a good position/velocity, but not immediately, it would wait for a timeout. I haven’t tested fallback to GSF when using GPS yaw though, so should be tested in SITL