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fix(ekf2): fuse airspeed in both transition if above EKF2_ARSP_THR

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Balduin 2026-03-10 18:03:44 +01:00 committed by Balduin
parent 2c337b77ab
commit e5071beaa3
5 changed files with 6 additions and 6 deletions
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2
src/modules/ekf2/EKF/aid_sources/airspeed/airspeed_fusion.cpp
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@ -94,7 +94,7 @@ void Ekf::controlAirDataFusion(const imuSample &imu_delayed)
updateAirspeed(airspeed_sample, _aid_src_airspeed);
const bool continuing_conditions_passing = _control_status.flags.in_air && (_control_status.flags.fixed_wing
|| _control_status.flags.in_transition_to_fw)
|| _control_status.flags.in_transition)
&& !_control_status.flags.fake_pos;
const bool is_airspeed_significant = airspeed_sample.true_airspeed > _params.ekf2_arsp_thr;

4
src/modules/ekf2/EKF/common.h
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@ -268,7 +268,7 @@ struct systemFlagUpdate {
bool is_fixed_wing{false};
bool gnd_effect{false};
bool constant_pos{false};
bool in_transition_to_fw{false};
bool in_transition{false};
};
struct parameters {
@ -593,7 +593,7 @@ uint64_t gnss_fault :
uint64_t yaw_manual : 1; ///< 46 - true if yaw has been reset manually
uint64_t gnss_hgt_fault :
1; ///< 47 - true if GNSS measurements (alt) have been declared faulty and are no longer used
uint64_t in_transition_to_fw : 1; ///< 48 - true if the vehicle is in transition to fw
uint64_t in_transition : 1; ///< 48 - true if the vehicle is in vtol transition
} flags;
uint64_t value;

2
src/modules/ekf2/EKF/control.cpp
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@ -58,7 +58,7 @@ void Ekf::controlFusionModes(const imuSample &imu_delayed)
set_in_air_status(system_flags_delayed.in_air);
set_is_fixed_wing(system_flags_delayed.is_fixed_wing);
set_in_transition_to_fw(system_flags_delayed.in_transition_to_fw);
set_in_transition(system_flags_delayed.in_transition);
if (system_flags_delayed.gnd_effect) {
set_gnd_effect();

2
src/modules/ekf2/EKF/estimator_interface.h
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@ -197,7 +197,7 @@ public:
// set vehicle is fixed wing status
void set_is_fixed_wing(bool is_fixed_wing) { _control_status.flags.fixed_wing = is_fixed_wing; }
void set_in_transition_to_fw(bool in_transition) { _control_status.flags.in_transition_to_fw = in_transition; }
void set_in_transition(bool in_transition) { _control_status.flags.in_transition = in_transition; }
// set flag if static pressure rise due to ground effect is expected
// use _params.ekf2_gnd_eff_dz to adjust for expected rise in static pressure

2
src/modules/ekf2/EKF2.cpp
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@ -2608,7 +2608,7 @@ void EKF2::UpdateSystemFlagsSample(ekf2_timestamps_s &ekf2_timestamps)
// let the EKF know if the vehicle motion is that of a fixed wing (forward flight only relative to wind)
flags.is_fixed_wing = (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING);
flags.in_transition_to_fw = vehicle_status.in_transition_to_fw;
flags.in_transition = vehicle_status.in_transition_mode;
#if defined(CONFIG_EKF2_SIDESLIP)