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AP_AHRS: use wind from simulation if available with EKF type 10

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This commit is contained in:
Andrew Tridgell 2022-07-30 11:45:47 +10:00 committed by Randy Mackay
parent 87579565de
commit c52b64a78a
1 changed files with 4 additions and 1 deletions
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5
libraries/AP_AHRS/AP_AHRS.cpp
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@ -790,7 +790,10 @@ Vector3f AP_AHRS::wind_estimate(void) const
#if AP_AHRS_SIM_ENABLED #if AP_AHRS_SIM_ENABLED
case EKFType::SIM: case EKFType::SIM:
wind.zero(); if (_sitl) {
const auto &fdm = _sitl->state;
wind = fdm.wind_ef;
}
break; break;
#endif #endif