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EKF2: distinguish airspeed source and use synthetic for wind

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Enable wind-dead-reckoning with airspeed source to synthetic airspeed
This commit is contained in:
Marco Hauswirth
2025-04-04 17:00:12 +02:00
committed by Silvan Fuhrer
parent 6d12b04bb0
commit f0fdf0b53b
5 changed files with 12 additions and 13 deletions
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src/modules/ekf2/EKF2.cpp
+4 -1
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@@ -2066,8 +2066,11 @@ void EKF2::UpdateAirspeedSample(ekf2_timestamps_s &ekf2_timestamps)
if (_airspeed_validated_sub.update(&airspeed_validated)) {
if (PX4_ISFINITE(airspeed_validated.true_airspeed_m_s)
&& (airspeed_validated.selected_airspeed_index > 0)
&& (airspeed_validated.airspeed_source > airspeed_validated_s::GROUND_MINUS_WIND)
) {
_ekf.setSyntheticAirspeed(airspeed_validated.airspeed_source == airspeed_validated_s::SYNTHETIC);
float cas2tas = 1.f;
if (PX4_ISFINITE(airspeed_validated.calibrated_airspeed_m_s)