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WindEstimator: remove filter reset due to airspeed measurement rejection 

As the purpose of this wind estimator is to (mainly) catch airspeed failures,
we don't value estimator stability as much as the reliability to catch
actual sensor issues, and thus do not reset the filter (as this may hide
a real issue with the sensor)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2021-10-12 15:45:49 +02:00
parent 3ad901e51d
commit 259b851ba7
1 changed files with 4 additions and 4 deletions
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8
src/lib/wind_estimator/WindEstimator.cpp
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@ -194,13 +194,13 @@ WindEstimator::fuse_airspeed(uint64_t time_now, const float true_airspeed, const
bool reinit_filter = false;
bool meas_is_rejected = false;
// note: _time_rejected_tas and reinit_filter are not used anymore as filter can't get reset due to tas rejection
meas_is_rejected = check_if_meas_is_rejected(time_now, _tas_innov, _tas_innov_var, _tas_gate, _time_rejected_tas,
reinit_filter);
reinit_filter |= _tas_innov_var < 0.0f;
if (meas_is_rejected || reinit_filter) {
if (reinit_filter) {
if (meas_is_rejected || _tas_innov_var < 0.f) {
// only reset filter if _tas_innov_var gets unfeasible, but not never if tas measurement is rejected
if (_tas_innov_var < 0.0f) {
_initialised = initialise(velI, matrix::Vector2f(0.1f, 0.1f), true_airspeed);
}