EKF: Add control mode for wind state estimation

This commit is contained in:
Paul Riseborough 2016-02-16 10:04:37 +11:00
parent de02aebafd
commit 7da40a45a4
2 changed files with 7 additions and 0 deletions

View File

@ -220,6 +220,7 @@ union filter_control_status_u {
uint8_t mag_dec : 1; // 6 - true if synthetic magnetic declination measurements are being fused
uint8_t in_air : 1; // 7 - true when the vehicle is airborne
uint8_t armed : 1; // 8 - true when the vehicle motors are armed
uint8_t wind : 1; // 9 - true when wind velocity is being estimated
} flags;
uint16_t value;
};

View File

@ -145,6 +145,12 @@ void Ekf::controlFusionModes()
_control_status.flags.mag_dec = false;
}
// Placeholder for control of wind velocity states estimation
// TODO add methods for true airspeed and/or sidelsip fusion or some type of drag force measurement
if (false) {
_control_status.flags.wind = false;
}
}
void Ekf::calculateVehicleStatus()