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AP_NavEKF3: Fix bug preventing copter wind estimation at low speed

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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 Randy Mackay
parent 21dfefa5f2
commit dd9cc70ad4
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 FLOW_I_GATE_DEFAULT 300
#define CHECK_SCALER_DEFAULT 100 #define CHECK_SCALER_DEFAULT 100
#define FLOW_USE_DEFAULT 1 #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) #elif APM_BUILD_TYPE(APM_BUILD_Rover)
// rover defaults // rover defaults

2
libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
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@ -66,7 +66,7 @@ void NavEKF3_core::setWindMagStateLearningMode()
inhibitWindStates = true; inhibitWindStates = true;
updateStateIndexLim(); updateStateIndexLim();
} else if (inhibitWindStates && canEstimateWind && } 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; inhibitWindStates = false;
updateStateIndexLim(); updateStateIndexLim();
// set states and variances // set states and variances