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AirspeedSelector, FailureDetector: Tailsitter attitude fixes #21319

Merged
merged 4 commits into from Mar 22, 2023
Merged

AirspeedSelector, FailureDetector: Tailsitter attitude fixes #21319

merged 4 commits into from Mar 22, 2023

Commits on Mar 21, 2023

  1. AirspeedSelector: fix attitude rotation for tailsitter 

    Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
    @sfuhrer
    sfuhrer committed Mar 21, 2023
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  2. FailureDetector: fix attitude check for tailsitter 

    -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>
    @sfuhrer
    sfuhrer committed Mar 21, 2023
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  3. disable side slip fusion for tailsitters 

    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>
    @sfuhrer
    sfuhrer committed Mar 21, 2023
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  4. EKF2: only check for EKF2_BETA_FUSION when corresponding kconfig opti… 

    …on is set

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
    @sfuhrer
    sfuhrer committed Mar 21, 2023
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