WIP: AP_Airspeed: Blending of several sensors V2 #7891
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Takeoff and flight with 15 m/s wind, changing wind 15->5->15, changing directions 0->180->0, turbulence up to 5. |
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@priseborough Can you please clarify why wind fusion (and airspeed from sensors as well) is disabled while we are on the ground? |
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Because air speed measurements on ground are highly unreliable due to unknown orientation wrt wind. Also zero sideslip assumption cannot be used. |
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Needs to be rebased on master and have submodule changes removed. |
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Not only rebased. Due to "recent" changes, I will update this completely. |
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@EShamaev We now have EKF affinity for airspeed, is this PR something you would still like to take forward? |
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superceded by ekf lanes/affinity. |
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Second version based on issues raised by @WickedShell
Main changes are: