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EKF: Use unfiltered airspeed if airspeed is large enough - rely for better stability on the filtered speed for the threshold. Lower the threshold to 5 m/s to ensure airspeed fusion even on small wings

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Lorenz Meier
2015-06-14 12:10:36 +02:00
parent 0916e6fc19
commit e76bdc3cac
1 changed files with 2 additions and 2 deletions
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src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+2 -2
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@@ -1062,7 +1062,7 @@ void AttitudePositionEstimatorEKF::updateSensorFusion(const bool fuseGPS, const
} }
// Fuse Airspeed Measurements // Fuse Airspeed Measurements
if (fuseAirSpeed && _ekf->VtasMeas > 7.0f) { if (fuseAirSpeed && _airspeed.true_airspeed_m_s > 5.0f) {
_ekf->fuseVtasData = true; _ekf->fuseVtasData = true;
_ekf->RecallStates(_ekf->statesAtVtasMeasTime, _ekf->RecallStates(_ekf->statesAtVtasMeasTime,
(IMUmsec - _parameters.tas_delay_ms)); // assume 100 msec avg delay for airspeed data (IMUmsec - _parameters.tas_delay_ms)); // assume 100 msec avg delay for airspeed data
@@ -1320,7 +1320,7 @@ void AttitudePositionEstimatorEKF::pollData()
orb_copy(ORB_ID(airspeed), _airspeed_sub, &_airspeed); orb_copy(ORB_ID(airspeed), _airspeed_sub, &_airspeed);
perf_count(_perf_airspeed); perf_count(_perf_airspeed);
_ekf->VtasMeas = _airspeed.true_airspeed_m_s; _ekf->VtasMeas = _airspeed.true_airspeed_unfiltered_m_s;
} }