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ekf2 airspeed fusion:

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- finished logic for fusion
- fixed bug where previous control status was set in the wrong location
This commit is contained in:
Roman Bapst
2016-04-05 15:14:04 +02:00
parent 60abf07bee
commit 99fc61c27c
8 changed files with 172 additions and 83 deletions
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EKF/control.cpp
+6 -5
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@@ -43,6 +43,8 @@
void Ekf::controlFusionModes()
{
// Store the status to enable change detection
_control_status_prev.value = _control_status.value;
// Determine the vehicle status
calculateVehicleStatus();
@@ -339,14 +341,13 @@ void Ekf::controlFusionModes()
_control_status.flags.rng_hgt = true;
}
// Placeholder for control of wind velocity states estimation
// TODO add methods for true airspeed and/or sidelsip fusion or some type of drag force measurement
if (false) {
// if the airspeed measurements have timed out for 10 seconds we declare the wind estimate to be invalid
if (_time_last_imu - _time_last_arsp_fuse > 10e6 || _time_last_arsp_fuse == 0) {
_control_status.flags.wind = false;
} else {
_control_status.flags.wind = true;
}
// Store the status to enable change detection
_control_status_prev.value = _control_status.value;
}
void Ekf::calculateVehicleStatus()