Wind estimator: added wind_estimator_reset state (to indicate if wind estimator was reset in last fusion-cycle)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

airdata/WindEstimator.cpp

@@ -88,6 +88,8 @@ WindEstimator::initialise(const matrix::Vector3f &velI, const matrix::Vector2f &
 	_time_rejected_tas = 0;
 	_time_rejected_beta = 0;
 
+	_wind_estimator_reset = true;
+
 	return true;
 }
 
@@ -98,6 +100,9 @@ WindEstimator::update(uint64_t time_now)
 		return;
 	}
 
+	// set reset state to false (is set to true when initialise fuction is called later)
+	_wind_estimator_reset = false;
+
 	// run covariance prediction at 1Hz
 	if (time_now - _time_last_update < 1000 * 1000 || _time_last_update == 0) {
 		if (_time_last_update == 0) {

airdata/WindEstimator.hpp

@@ -81,6 +81,7 @@ public:
 		wind_var[0] = _P(0, 0);
 		wind_var[1] = _P(1, 1);
 	}
+	bool get_wind_estimator_reset() { return _wind_estimator_reset; }
 
 	void set_wind_p_noise(float wind_sigma) { _wind_p_var = wind_sigma * wind_sigma; }
 	void set_tas_scale_p_noise(float tas_scale_sigma) { _tas_scale_p_var = tas_scale_sigma * tas_scale_sigma; }
@@ -123,6 +124,8 @@ private:
 		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
+
 	// initialise state and state covariance matrix
 	bool initialise(const matrix::Vector3f &velI, const matrix::Vector2f &velIvar, const float tas_meas);