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https://github.com/ArduPilot/ardupilot
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324d5da811
These changes enable the EKF to use the last observable wind velocity vector estimate to synthesise an airspeed measurement if operating without an airspeed sensor and when all other measurement types that can constrain velocoty drift are lost. This enables the EKF to use dead reckoning to continue after loss of GPS when there is no air speed sensor fitted and without the need to set a default airspeed value. The logic used to fuse a default airspeed value has also been cleaned up and the call to FuseAirSpeed() from inside SelectBetaDragFusion() has been removed. AP_NavEKF3: Fix error in default airspeed observation variance AP_NavEKF3: Enable shadow fusion of airspeed when sensor is disabled |
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| .. | ||
| derivation | ||
| AP_NavEKF3_AirDataFusion.cpp | ||
| AP_NavEKF3_Control.cpp | ||
| AP_NavEKF3_core.cpp | ||
| AP_NavEKF3_core.h | ||
| AP_NavEKF3_feature.h | ||
| AP_NavEKF3_GyroBias.cpp | ||
| AP_NavEKF3_Logging.cpp | ||
| AP_NavEKF3_MagFusion.cpp | ||
| AP_NavEKF3_Measurements.cpp | ||
| AP_NavEKF3_OptFlowFusion.cpp | ||
| AP_NavEKF3_Outputs.cpp | ||
| AP_NavEKF3_PosVelFusion.cpp | ||
| AP_NavEKF3_RngBcnFusion.cpp | ||
| AP_NavEKF3_VehicleStatus.cpp | ||
| AP_NavEKF3.cpp | ||
| AP_NavEKF3.h | ||
| LogStructure.h | ||