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AirspeedSelector: airspeed scale estimation improvements and robustification

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- run airspeed scale estimation always, not in dedicated mode
- add option to apply scale automatically, with extra feasibility check
- add airspeed scale for all 3 possible airspeed instances
- clean up parameters
- add check for data stuck (non-changing airspeed data)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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Silvan Fuhrer
2021-10-11 15:05:27 +02:00
parent 8e8c6efd66
commit 625f556b0e
7 changed files with 286 additions and 130 deletions
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msg/airspeed_wind.msg
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@@ -9,7 +9,9 @@ float32 variance_east # Wind estimate error variance in east / Y direction (m/s
float32 tas_innov # True airspeed innovation
float32 tas_innov_var # True airspeed innovation variance
float32 tas_scale # Estimated true airspeed scale factor
float32 tas_scale_var # True airspeed scale factor variance
float32 beta_innov # Sideslip measurement innovation
float32 beta_innov_var # Sideslip measurement innovation variance