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WindEstimator: added support for pre-set airspeed scale factor

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2019-08-08 09:15:25 +02:00
committed by Beat Küng
parent a7d9c73d4d
commit 62fa464e4d
2 changed files with 10 additions and 7 deletions
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airdata/WindEstimator.hpp
+5 -2
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@@ -89,7 +89,10 @@ public:
void set_beta_noise(float beta_var) { _beta_var = beta_var * beta_var; }
void set_tas_gate(uint8_t gate_size) {_tas_gate = gate_size; }
void set_beta_gate(uint8_t gate_size) {_beta_gate = gate_size; }
void set_scale_estimation_on(bool scale_estimation_on) {_scale_estimation_on = scale_estimation_on; }
// Inhibit learning of the airspeed scale factor and force the estimator to use _enforced_airspeed_scale as scale factor.
// Negative input values enable learning of the airspeed scale factor.
void enforce_airspeed_scale(float scale) {_enforced_airspeed_scale = scale; }
private:
enum {
@@ -122,9 +125,9 @@ private:
uint64_t _time_rejected_beta = 0; ///< timestamp of when sideslip measurements have consistently started to be rejected
uint64_t _time_rejected_tas =
0; ///<timestamp of when true airspeed measurements have consistently started to be rejected
bool _scale_estimation_on = false; ///< online scale estimation (IAS-->CAS/EAS) is on
bool _wind_estimator_reset = false; ///< wind estimator was reset in this cycle
float _enforced_airspeed_scale{-1.0f}; ///< by default we want to estimate the true airspeed scale factor (see enforce_airspeed_scale(...) )
// initialise state and state covariance matrix
bool initialise(const matrix::Vector3f &velI, const matrix::Vector2f &velIvar, const float tas_meas);