fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-18 05:53:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: refactor airspeed fusion control logic

Browse Source
This commit is contained in:
bresch
2021-10-26 10:18:56 +02:00
committed by Mathieu Bresciani
parent 8873e92c7c
commit 6e8f0e92ff
6 changed files with 66 additions and 33 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF/airspeed_fusion.cpp
+1 -2
View File
@@ -57,7 +57,7 @@ void Ekf::fuseAirspeed()
const float R_TAS = sq(math::constrain(_params.eas_noise, 0.5f, 5.0f) *
math::constrain(_airspeed_sample_delayed.eas2tas, 0.9f, 10.0f));
// determine if we need the sideslip fusion to correct states other than wind
// determine if we need the airspeed fusion to correct states other than wind
const bool update_wind_only = !_is_wind_dead_reckoning;
// Intermediate variables
@@ -165,7 +165,6 @@ void Ekf::fuseAirspeed()
if (is_fused) {
_time_last_arsp_fuse = _time_last_imu;
_control_status.flags.fuse_aspd = true;
}
}