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EKF: Add multi-rotor drag model for wind estimation

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This commit is contained in:
Paul Riseborough
2017-04-16 13:07:12 +02:00
committed by Lorenz Meier
parent b07acd8cf3
commit 465b145929
11 changed files with 377 additions and 6 deletions
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EKF/ekf.cpp
+2
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@@ -150,6 +150,8 @@ Ekf::Ekf():
_gps_check_fail_status.value = 0;
_state_reset_status = {};
_dt_ekf_avg = 0.001f * (float)(FILTER_UPDATE_PERIOD_MS);
memset(_drag_innov, 0, sizeof(_drag_innov));
memset(_drag_innov_var, 0, sizeof(_drag_innov_var));
}
bool Ekf::init(uint64_t timestamp)