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AP_NavEKF : Use synthetic sideslip fusion during GPS denied operation with airspeed

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Paul Riseborough 2014-03-13 17:10:34 +11:00 committed by Andrew Tridgell
parent 35811758d7
commit a24bfc1b8a
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -739,10 +739,10 @@ void NavEKF::SelectBetaFusion()
// Determine if synthetic sidelsip data should be fused // Determine if synthetic sidelsip data should be fused
// synthetic sidelip fusion only works for fixed wing aircraft and relies on the average sideslip being close to zero // synthetic sidelip fusion only works for fixed wing aircraft and relies on the average sideslip being close to zero
// it requires a stable wind estimate for best results and should not be used for aerobatic flight // it requires a stable wind estimate for best results and should not be used for aerobatic flight
// we only fuse synthetic sideslip measurements if we are not using a compass, are not on the ground, enough time has // we fuse synthetic sideslip measurements if:
// lapsed since our last fusion and we have not fused magnetometer data on this time step or the immediate fusion // (we are not using a compass OR (we are dead-reckoning position AND using airspeed)) AND not on the ground AND enough time has lapsed since our last fusion AND
// flag is set // (we have not fused magnetometer data on this time step OR the immediate fusion flag is set)
if (!use_compass() && !onGround && ((IMUmsec - BETAmsecPrev) >= _msecBetaAvg) && (!magFusePerformed || fuseMeNow)) { if ((!use_compass() || (!posHealth && useAirspeed())) && !onGround && ((IMUmsec - BETAmsecPrev) >= _msecBetaAvg) && (!magFusePerformed || fuseMeNow)) {
FuseSideslip(); FuseSideslip();
BETAmsecPrev = IMUmsec; BETAmsecPrev = IMUmsec;
} }