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Plane: disable EKF3 default airspeed fusion by default 

this fusion can cause problems with wind estimation, disable by
default for now
This commit is contained in:
Andrew Tridgell 2021-07-15 19:04:53 +10:00 committed by Randy Mackay
parent d841615710
commit 645386cba6
3 changed files with 8 additions and 3 deletions
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8
ArduPlane/ArduPlane.cpp
View File

@ -269,8 +269,12 @@ void Plane::one_second_loop()
adsb.set_stall_speed_cm(aparm.airspeed_min);
adsb.set_max_speed(aparm.airspeed_max);
#endif
ahrs.writeDefaultAirSpeed((float)((aparm.airspeed_min + aparm.airspeed_max)/2),
(float)((aparm.airspeed_max - aparm.airspeed_min)/2));
if (g2.flight_options & FlightOptions::ENABLE_DEFAULT_AIRSPEED) {
// use average of min and max airspeed as default airspeed fusion with high variance
ahrs.writeDefaultAirSpeed((float)((aparm.airspeed_min + aparm.airspeed_max)/2),
(float)((aparm.airspeed_max - aparm.airspeed_min)/2));
}
// sync MAVLink system ID
mavlink_system.sysid = g.sysid_this_mav;

2
ArduPlane/Parameters.cpp
View File

@ -1105,7 +1105,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @Param: FLIGHT_OPTIONS
// @DisplayName: Flight mode options
// @Description: Flight mode specific options
// @Bitmask: 0:Rudder mixing in direct flight modes only (Manual / Stabilize / Acro),1:Use centered throttle in Cruise or FBWB to indicate trim airspeed, 2:Disable attitude check for takeoff arming, 3:Force target airspeed to trim airspeed in Cruise or FBWB, 4: Climb to ALT_HOLD_RTL before turning for RTL, 5: Enable yaw damper in acro mode, 6: Surpress speed scaling during auto takeoffs to be 1 or less to prevent oscillations without airpseed sensor.
// @Bitmask: 0:Rudder mixing in direct flight modes only (Manual / Stabilize / Acro),1:Use centered throttle in Cruise or FBWB to indicate trim airspeed, 2:Disable attitude check for takeoff arming, 3:Force target airspeed to trim airspeed in Cruise or FBWB, 4: Climb to ALT_HOLD_RTL before turning for RTL, 5: Enable yaw damper in acro mode, 6: Surpress speed scaling during auto takeoffs to be 1 or less to prevent oscillations without airpseed sensor, 7:EnableDefaultAirspeed for takeoff
// @User: Advanced
AP_GROUPINFO("FLIGHT_OPTIONS", 13, ParametersG2, flight_options, 0),

1
ArduPlane/defines.h
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@ -159,6 +159,7 @@ enum FlightOptions {
CLIMB_BEFORE_TURN = (1 << 4),
ACRO_YAW_DAMPER = (1 << 5),
SURPRESS_TKOFF_SCALING = (1<<6),
ENABLE_DEFAULT_AIRSPEED = (1<<7),
};
enum CrowFlapOptions {