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EKF: Fix bug in wind estimation for fixed wing

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This commit is contained in:
Paul Riseborough
2017-06-30 10:32:54 +10:00
parent ba4a311771
commit 59edccca4a
1 changed files with 13 additions and 10 deletions
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EKF/control.cpp
+13 -10
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@@ -947,19 +947,22 @@ void Ekf::controlBetaFusion()
void Ekf::controlDragFusion()
{
if (_params.fusion_mode & MASK_USE_DRAG && _control_status.flags.in_air) {
if (!_control_status.flags.wind) {
// reset the wind states and covariances when starting drag accel fusion
_control_status.flags.wind = true;
resetWindStates();
resetWindCovariance();
if (_params.fusion_mode & MASK_USE_DRAG ) {
if (_control_status.flags.in_air) {
if (!_control_status.flags.wind) {
// reset the wind states and covariances when starting drag accel fusion
_control_status.flags.wind = true;
resetWindStates();
resetWindCovariance();
} else if (_drag_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_drag_sample_delayed)) {
fuseDrag();
} else if (_drag_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_drag_sample_delayed)) {
fuseDrag();
}
} else {
_control_status.flags.wind = false;
}
} else {
_control_status.flags.wind = false;
}
}