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ekf: use airspeed directly, the other thing was just wrong

This commit is contained in:
tumbili 2015-11-20 14:58:29 +01:00
parent 1f33451690
commit 333d6ea12f
1 changed files with 4 additions and 2 deletions
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6
src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
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@ -894,8 +894,10 @@ void AttitudePositionEstimatorEKF::publishControlState()
_ctrl_state.q[3] = _ekf->states[3];
/* Airspeed (Groundspeed - Windspeed) */
_ctrl_state.airspeed = sqrt(pow(_ekf->states[4] - _ekf->states[14], 2) + pow(_ekf->states[5] - _ekf->states[15], 2) + pow(_ekf->states[6], 2));
//_ctrl_state.airspeed = sqrt(pow(_ekf->states[4] - _ekf->states[14], 2) + pow(_ekf->states[5] - _ekf->states[15], 2) + pow(_ekf->states[6], 2));
// the line above was introduced by the control state PR. The airspeed it gives is totally wrong and leads to horrible flight performance in SITL
// and in outdoor tests
_ctrl_state.airspeed = _airspeed.true_airspeed_m_s;
/* Attitude Rates */
_ctrl_state.roll_rate = _LP_att_P.apply(_ekf->dAngIMU.x / _ekf->dtIMU) - _ekf->states[10] / _ekf->dtIMUfilt;
_ctrl_state.pitch_rate = _LP_att_Q.apply(_ekf->dAngIMU.y / _ekf->dtIMU) - _ekf->states[11] / _ekf->dtIMUfilt;