ekf2: migrate fuse_airspeed to SymForce #20333
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I added a little cmake helper to re-run the Symforce code generation. By default it shouldn't do anything. |
dagar
reviewed
Oct 1, 2022
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| const float predicted_airspeed = sqrtf(IV2); | ||
| const float R = sq(math::constrain(_params.eas_noise, 0.5f, 5.0f) * | ||
| math::constrain(airspeed_sample.eas2tas, 0.9f, 10.0f)); |
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10 seems kind of high for eas2tas, I think that would be > 30 km.
dagar
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Oct 1, 2022
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Added a unit test to compare the previous auto-generated code with the new functions to make sure the results are numerically identical. |
dagar
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Oct 3, 2022
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Describe problem solved by this pull request
Copy/paste and manually modifying auto-generated code is prone to human errors; it takes about a day of painful work to replace the existing auto-generated code if anything in the derivation is changed.
Describe your solution
Use SymForce to generate compatible C++ code and only use function calls within PX4
Test data / coverage
SITL test with
make px4_sitl gazebo_plane__windyBefore:
This PR:
