Allow setting of EKF3 wind state from MAV_CMD_EXTERNAL_WIND_ESTIMATE #28279
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allows perusal of logs to ensure replay is working
tridge
reviewed
Oct 2, 2024
| zeroCols(P,22,23); | ||
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| // set the wind state variances | ||
| if (is_positive(speed_accuracy)) { |
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what does is_positive() do for a NaN?
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| // reset the NE wind velocity states to the measurement | ||
| Vector2F wind_vel_prev = stateStruct.wind_vel; | ||
| stateStruct.wind_vel.x = -speed * cosF(radians(direction)); |
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need to check sign convention for ekf3 wind state vs external wind state
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This is mostly @priseborough 's work, I've just tidied things up a bit.
WINDmavlink message contains the wind estimate while EKF3 is in charge