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Merge pull request #291 from PX4/pr-ekfWindEstBugFix

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EKF: Fix bug affecting wind estimation for planes
This commit is contained in:
Paul Riseborough
2017-07-01 11:06:58 +10:00
committed by GitHub
parent 73ef95b37f 59edccca4a
commit dfbc9de48e
3 changed files with 19 additions and 16 deletions
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EKF/control.cpp
+15 -13
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@@ -894,11 +894,10 @@ 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;
}
@@ -928,7 +927,7 @@ 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)) {
@@ -965,19 +964,22 @@ void Ekf::controlBetaFusion()
void Ekf::controlDragFusion()
{
if (_params.fusion_mode & MASK_USE_DRAG && _control_status.flags.in_air) {
if (!_control_status.flags.wind) {
// reset the wind states and covariances when starting drag accel fusion
_control_status.flags.wind = true;
resetWindStates();
resetWindCovariance();
if (_params.fusion_mode & MASK_USE_DRAG ) {
if (_control_status.flags.in_air) {
if (!_control_status.flags.wind) {
// reset the wind states and covariances when starting drag accel fusion
_control_status.flags.wind = true;
resetWindStates();
resetWindCovariance();
} else if (_drag_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_drag_sample_delayed)) {
fuseDrag();
} else if (_drag_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_drag_sample_delayed)) {
fuseDrag();
}
} else {
_control_status.flags.wind = false;
}
} else {
_control_status.flags.wind = false;
}
}