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EKF: Update comments for wind estimation logic

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This commit is contained in:
Paul Riseborough
2017-06-30 10:32:23 +10:00
parent 8e0cd1bc39
commit ba4a311771
1 changed files with 2 additions and 3 deletions
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EKF/control.cpp
+2 -3
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@@ -877,11 +877,10 @@ void Ekf::controlAirDataFusion()
{
// control activation and initialisation/reset of wind states required for airspeed fusion
// If both airspeed and sideslip fusion have timed out then we no longer have valid wind estimates
// If both airspeed and sideslip fusion have timed out and we are not using a drag observation model then we no longer have valid wind estimates
bool airspeed_timed_out = _time_last_imu - _time_last_arsp_fuse > 10e6;
bool sideslip_timed_out = _time_last_imu - _time_last_beta_fuse > 10e6;
if (_control_status.flags.wind && airspeed_timed_out && sideslip_timed_out && !(_params.fusion_mode & MASK_USE_DRAG)) {
// if the airspeed or sideslip measurements have timed out for 10 seconds we declare the wind estimate to be invalid
_control_status.flags.wind = false;
}
@@ -911,7 +910,7 @@ void Ekf::controlBetaFusion()
{
// control activation and initialisation/reset of wind states required for synthetic sideslip fusion fusion
// If both airspeed and sideslip fusion have timed out then we no longer have valid wind estimates
// If both airspeed and sideslip fusion have timed out and we are not using a drag observation model then we no longer have valid wind estimates
bool sideslip_timed_out = _time_last_imu - _time_last_beta_fuse > 10e6;
bool airspeed_timed_out = _time_last_imu - _time_last_arsp_fuse > 10e6;
if(_control_status.flags.wind && airspeed_timed_out && sideslip_timed_out && !(_params.fusion_mode & MASK_USE_DRAG)) {