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EKF: Allow external setting of air density for multi-rotor drag fusion

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Paul Riseborough
2017-04-16 13:07:12 +02:00
committed by Lorenz Meier
parent 3758c5a09d
commit c607941e2f
3 changed files with 8 additions and 2 deletions
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EKF/drag_fusion.cpp
+1 -2
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@@ -50,8 +50,7 @@ void Ekf::fuseDrag()
float Kfusion[24] = {}; // Kalman gain vector
float R_ACC = _params.drag_noise; // observation noise in specific force drag (m/sec**2)
float eas2tas = 1.0f; // conversion factor from EAS to TAS - TODO calculate from barometric pressure
float rho = 1.225f / sqrtf(eas2tas); // air density (kg/m**3)
float rho = fmaxf(_air_density, 0.1f); // air density (kg/m**3)
// calculate inverse of ballistic coefficient
if (_params.bcoef_x < 1.0f || _params.bcoef_y < 1.0f) {