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AP_Soaring: Reduce drift feed-forward by ratio of climb rate to thermal core strength. This is consistent with assumption that each packet of air, rising at core strength, is convected with the ambient wind speed.

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Samuel Tabor 2019-06-23 07:32:53 +01:00 committed by Andrew Tridgell
parent 15cef55e97
commit 2b40182b34
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_Soaring/AP_Soaring.cpp
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@ -295,7 +295,7 @@ void SoaringController::update_thermalling()
return;
}
Vector3f wind_drift = _ahrs.wind_estimate()*deltaT;
Vector3f wind_drift = _ahrs.wind_estimate()*deltaT*_vario.smoothed_climb_rate/_ekf.X[0];
// update the filter
_ekf.update(_vario.reading, current_position.x, current_position.y, wind_drift.x, wind_drift.y);