From c65cf13bb8614b284d5c237cde284ee640a13c36 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Tue, 15 Dec 2020 20:51:28 +1100 Subject: [PATCH] EKF; Treat combined sideslip and airspeed as a horizontal aiding source --- EKF/estimator_interface.cpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/EKF/estimator_interface.cpp b/EKF/estimator_interface.cpp index 125e03fff1..f029d746ae 100644 --- a/EKF/estimator_interface.cpp +++ b/EKF/estimator_interface.cpp @@ -547,7 +547,10 @@ int EstimatorInterface::getNumberOfActiveHorizontalAidingSources() const return int(_control_status.flags.gps) + int(_control_status.flags.opt_flow) + int(_control_status.flags.ev_pos) - + int(_control_status.flags.ev_vel); + + int(_control_status.flags.ev_vel) + // Combined airspeed and sideslip fusion allows sustained wind relative dead reckoning + // and so is treated as a single aiding source. + + int(_control_status.flags.fuse_aspd && _control_status.flags.fuse_beta); } bool EstimatorInterface::isHorizontalAidingActive() const