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Copter: ekf_has_relative_position may use wind estimate

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This commit is contained in:
Randy Mackay 2022-05-10 13:17:04 +09:00
parent e37bf9ad53
commit c102270e72
1 changed files with 5 additions and 1 deletions
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6
ArduCopter/system.cpp
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@ -273,7 +273,7 @@ bool Copter::ekf_has_relative_position() const
return false;
}
// return immediately if neither optflow nor visual odometry is enabled
// return immediately if neither optflow nor visual odometry nor wind estimatation is enabled
bool enabled = false;
#if AP_OPTICALFLOW_ENABLED
if (optflow.enabled()) {
@ -285,6 +285,10 @@ bool Copter::ekf_has_relative_position() const
enabled = true;
}
#endif
Vector3f airspeed_vec_bf;
if (AP::ahrs().airspeed_vector_true(airspeed_vec_bf)) {
enabled = true;
}
if (!enabled) {
return false;
}