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AP_AHRS: Fall back to DCM airspeed estimate if EKF velocity not available

This commit is contained in:
Paul Riseborough 2021-02-21 09:21:47 +11:00 committed by Andrew Tridgell
parent a50be71b41
commit 1a3258a039
1 changed files with 15 additions and 10 deletions
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25
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -688,18 +688,23 @@ bool AP_AHRS_NavEKF::airspeed_estimate(float &airspeed_ret) const
// estimate it via nav velocity and wind estimates
Vector3f nav_vel;
float true_airspeed;
if (ret && have_inertial_nav() && get_velocity_NED(nav_vel)) {
Vector3f true_airspeed_vec = nav_vel - wind_vel;
true_airspeed = true_airspeed_vec.length();
float gnd_speed = nav_vel.length();
if (_wind_max > 0) {
float tas_lim_lower = MAX(0.0f, (gnd_speed - _wind_max));
float tas_lim_upper = MAX(tas_lim_lower, (gnd_speed + _wind_max));
true_airspeed = constrain_float(true_airspeed, tas_lim_lower, tas_lim_upper);
if (ret && have_inertial_nav()) {
if (get_velocity_NED(nav_vel)) {
Vector3f true_airspeed_vec = nav_vel - wind_vel;
true_airspeed = true_airspeed_vec.length();
float gnd_speed = nav_vel.length();
if (_wind_max > 0) {
float tas_lim_lower = MAX(0.0f, (gnd_speed - _wind_max));
float tas_lim_upper = MAX(tas_lim_lower, (gnd_speed + _wind_max));
true_airspeed = constrain_float(true_airspeed, tas_lim_lower, tas_lim_upper);
} else {
true_airspeed = MAX(0.0f, true_airspeed);
}
airspeed_ret = true_airspeed / get_EAS2TAS();
} else {
true_airspeed = MAX(0.0f, true_airspeed);
// fallback to DCM if airspeed estimate if EKF has wind but no velocity estimate
ret = AP_AHRS_DCM::airspeed_estimate(get_active_airspeed_index(), airspeed_ret);
}
airspeed_ret = true_airspeed / get_EAS2TAS();
}
return ret;