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Use the wind speed estimate filtered values

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Lorenz Meier
2014-08-18 21:26:18 +02:00
parent cfcb76f627
commit 2c0d192944
1 changed files with 4 additions and 2 deletions
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src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+4 -2
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@@ -1490,8 +1490,10 @@ FixedwingEstimator::task_main()
if (hrt_elapsed_time(&_wind.timestamp) > 99000) {
_wind.timestamp = _global_pos.timestamp;
_wind.windspeed_north = _ekf->states[14];
_wind.windspeed_east = _ekf->states[15];
_wind.windspeed_north = _ekf->windSpdFiltNorth;
_wind.windspeed_east = _ekf->windSpdFiltEast;
// XXX we need to do something smart about the covariance here
// but we default to the estimate covariance for now
_wind.covariance_north = _ekf->P[14][14];
_wind.covariance_east = _ekf->P[15][15];