fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-04 06:10:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

WindEstimator: use vehicle heading instead of ground course for initialisation

Browse Source 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-01-14 18:15:58 +01:00
committed by Daniel Agar
parent 1a4b2b37bb
commit 0ce44cebb7
3 changed files with 12 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/airspeed_selector/AirspeedValidator.cpp
+1 -1
View File
@@ -82,7 +82,7 @@ AirspeedValidator::update_wind_estimator(const uint64_t time_now_usec, float air
// airspeed fusion (with raw TAS)
const Vector3f vel_var{Dcmf(q) *Vector3f{lpos_evh, lpos_evh, lpos_evv}};
_wind_estimator.fuse_airspeed(time_now_usec, airspeed_true_raw, vI, Vector2f{vel_var(0), vel_var(1)});
_wind_estimator.fuse_airspeed(time_now_usec, airspeed_true_raw, vI, Vector2f{vel_var(0), vel_var(1)}, q);
// sideslip fusion
_wind_estimator.fuse_beta(time_now_usec, vI, q);