- synthetic airspeed will only be declared valid as soon as the wind variance
has dropped below a parameterized threshold. This is useful for vehicles without
an airspeed sensor which rely on synthetic airspeed but only once the vehicle
has turned sufficiently for the wind estimates to be reliable.
Signed-off-by: RomanBapst <bapstroman@gmail.com>
The noise spectral density, NSD, (square root of power spectral density) is a
continuous-time parameter that makes the tuning independent from the EKF
prediction rate.
NSD corresponds to the rate at which the state uncertainty increases
when no measurements are fused into the filter.
Given that the current prediction rate of the wind estimator is 1Hz, the
same tuning is obtained with the same values as before.
The situation where this would be desired is unclear, plus it's basically
the same as setting ASPD_SC_P_NOISE to a very small value.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Do no longer use tas_innovation from wind estimator and test ratio, but calculate
the innovation based on wind estimate, TAS measurement (including currently applied scale)
and ground velocity. Use innovations directly to trigger failure.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
As the purpose of this wind estimator is to (mainly) catch airspeed failures,
we don't value estimator stability as much as the reliability to catch
actual sensor issues, and thus do not reset the filter (as this may hide
a real issue with the sensor)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- run airspeed scale estimation always, not in dedicated mode
- add option to apply scale automatically, with extra feasibility check
- add airspeed scale for all 3 possible airspeed instances
- clean up parameters
- add check for data stuck (non-changing airspeed data)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Silvan Fuhrer