AirspeedSelector, FailureDetector: Tailsitter attitude fixes #21319
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sfuhrer
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Distributing even more tailsitter special cases everywhere is a bit concerning. |
Not nice but quite without alternative aren't we? And compared to other if(tailsitter) special cases the ones related to rotating the attitude are the easiest to justify no? @dagar @bresch can we get this in and fix the remaining EKF fusion issue in #21328? |
bresch
previously approved these changes
Mar 20, 2023
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
-set roll/pitch used for failure detection during transition to 0 -rotate estimated attitude 90° in FW flight Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
The attitude frame is wrong for tailsitters doing side slip fusion for wind estimation. It doesn't take into account that the frames is 90deg tilted in FW flight. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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…on is set Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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bresch
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Mar 22, 2023
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Solved Problem
#21229
Solution
Rotate attitude 90° in airspeed selector and failure detector.
Still have some
WARN [ekf2] primary EKF changed 0 (filter fault) -> 3that I'm looking into, which may have been the root issue for #21229.It seems to be a EKF side slip fusion failure
# 6 - true if fusion of the synthetic sideslip constraint has encountered a numerical error