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ekf2: refactor airspeed starting logic

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- avoids using invalid velocity estimate to reset wind
- do not set fusion flags if starting was impossible
- reset wind to 0 before resetting velocity using airspeed if wind data
  is outdated
This commit is contained in:
bresch 2025-12-15 16:33:59 +01:00 committed by Mathieu Bresciani
parent b7ffd6ea2c
commit 2c044b327e
1 changed files with 25 additions and 7 deletions
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32
src/modules/ekf2/EKF/aid_sources/airspeed/airspeed_fusion.cpp
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@ -127,20 +127,38 @@ void Ekf::controlAirDataFusion(const imuSample &imu_delayed)
}
} else if (starting_conditions_passing) {
ECL_INFO("starting airspeed fusion");
const bool do_vel_reset = _horizontal_deadreckon_time_exceeded
|| (_control_status.flags.inertial_dead_reckoning && !is_airspeed_consistent);
const Vector2f wind_vel_var = getWindVelocityVariance();
const bool do_wind_reset = (!_control_status.flags.wind || ((wind_vel_var(0) + wind_vel_var(1)) > sq(_params.initial_wind_uncertainty)))
&& !_external_wind_init;
if (do_vel_reset) {
if (do_wind_reset) {
resetWindCov();
_state.wind_vel.zero();
}
if (_control_status.flags.inertial_dead_reckoning && !is_airspeed_consistent) {
resetVelUsingAirspeed(airspeed_sample);
ECL_INFO("Reset velocity using airspeed (%.3f)",
(double)airspeed_sample.true_airspeed);
} else if (!_external_wind_init && !_synthetic_airspeed
&& (!_control_status.flags.wind
|| getWindVelocityVariance().longerThan(sq(_params.initial_wind_uncertainty)))) {
} else if (do_wind_reset) {
resetWindUsingAirspeed(airspeed_sample);
ECL_INFO("Reset wind using airspeed (%.3f)",
(double)airspeed_sample.true_airspeed);
_aid_src_airspeed.time_last_fuse = _time_delayed_us;
} else {
fuseAirspeed(airspeed_sample, _aid_src_airspeed);
}
_control_status.flags.wind = true;
_control_status.flags.fuse_aspd = true;
if (do_vel_reset || do_wind_reset || _aid_src_airspeed.fused) {
ECL_INFO("starting airspeed fusion");
_control_status.flags.wind = true;
_control_status.flags.fuse_aspd = true;
}
}
} else if (_control_status.flags.fuse_aspd && !isRecent(_airspeed_sample_delayed.time_us, (uint64_t)1e6)) {