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AP_NavEKF3: Fix bug preventing copter wind estimation at low speed 

Also re-tunes process noise default for smoother wind velocity state estimates.
This commit is contained in:
Paul Riseborough 2021-07-18 12:44:49 +10:00 committed by Andrew Tridgell
parent a829bc435c
commit 8744b0954f
2 changed files with 2 additions and 2 deletions
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2
libraries/AP_NavEKF3/AP_NavEKF3.cpp
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@ -39,7 +39,7 @@
#define FLOW_I_GATE_DEFAULT 300
#define CHECK_SCALER_DEFAULT 100
#define FLOW_USE_DEFAULT 1
#define WIND_P_NSE_DEFAULT 1.0
#define WIND_P_NSE_DEFAULT 0.5
#elif APM_BUILD_TYPE(APM_BUILD_Rover)
// rover defaults

2
libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
View File

@ -66,7 +66,7 @@ void NavEKF3_core::setWindMagStateLearningMode()
inhibitWindStates = true;
updateStateIndexLim();
} else if (inhibitWindStates && canEstimateWind &&
sq(stateStruct.velocity.x) + sq(stateStruct.velocity.y) > sq(5.0f)) {
(sq(stateStruct.velocity.x) + sq(stateStruct.velocity.y) > sq(5.0f) || dragFusionEnabled)) {
inhibitWindStates = false;
updateStateIndexLim();
// set states and variances