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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
2025-05-02 13:37:18 +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/test/test_EKF_airspeed.cpp
+1 -1
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@@ -218,7 +218,7 @@ TEST_F(EkfAirspeedTest, testAirspeedDeadReckoning)
EXPECT_TRUE(_ekf_wrapper.isWindVelocityEstimated());
const Vector3f vel = _ekf->getVelocity();
EXPECT_NEAR(vel.norm(), airspeed_body.norm(), 1e-2f);
EXPECT_NEAR(vel.norm(), airspeed_body.norm(), 0.05f);
const Vector2f vel_wind_earth = _ekf->getWindVelocity();
EXPECT_NEAR(vel_wind_earth(0), 0.f, .1f);
EXPECT_NEAR(vel_wind_earth(1), 0.f, .1f);