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provide ekf2 with eas2tas factor

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Roman
2016-04-12 10:45:05 +02:00
committed by tumbili
parent f5730dc7b5
commit c6668cae6c
1 changed files with 4 additions and 2 deletions
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src/modules/ekf2/ekf2_main.cpp
+4 -2
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@@ -476,8 +476,9 @@ void Ekf2::task_main()
}
// read airspeed data if available
if (airspeed_updated) {
_ekf->setAirspeedData(airspeed.timestamp, &airspeed.true_airspeed_m_s); // Only TAS is now fed into the estimator
float eas2tas = airspeed.true_airspeed_m_s / airspeed.indicated_airspeed_m_s;
if (airspeed_updated && airspeed.true_airspeed_m_s > 7.0f) {
_ekf->setAirspeedData(airspeed.timestamp, &airspeed.true_airspeed_m_s, &eas2tas);
}
if (optical_flow_updated) {
@@ -533,6 +534,7 @@ void Ekf2::task_main()
ctrl_state.q[2] = q(2);
ctrl_state.q[3] = q(3);
// Airspeed - take airspeed measurement directly here as no wind is estimated
if (PX4_ISFINITE(airspeed.indicated_airspeed_m_s) && hrt_absolute_time() - airspeed.timestamp < 1e6
&& airspeed.timestamp > 0) {