* added support for resetting wind states to external observation
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* moved wind related functions into separate file
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* added VEHICLE_CMD_EXTERNAL_WIND_ESTIMATE
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* correctly compute variances
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* ekf2: implement wind reset
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* only allow VEHICLE_CMD_EXTERNAL_WIND_ESTIMATE during wind dead-reckoning
and increase horizontal velocity variance to allow velocity states to move
towards solution that is aligned with the newly set wind
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* only reset wind on ground
* still use wind reset using airspeed when it wasn't initialized
* exclude func for rover, change reset interface
* handle wind reset in drag-fusion
* replace state reset with variance reset in sideslip/drag fusion
* remove resetWind function
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Signed-off-by: RomanBapst <bapstroman@gmail.com>
Co-authored-by: Marco Hauswirth <marco.hauswirth@auterion.com>
Roman Bapst