Allow airspeed fusion when airspeed is above defined threshold #24177
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- enables airspeed fusion to begin during transition already - airspeed fusion is started based on airspeed being above defined threshold Signed-off-by: RomanBapst <[email protected]>
bresch
reviewed
Jan 7, 2025
bresch
approved these changes
Jan 7, 2025
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Solved Problem
When transitioning a VTOL which relies only on optical flow, airspeed fusion only starts after the transition.
In cases where we rely on wind dead-reckoning for navigation, airspeed fusion is not starting quickly enough in order to avoid triggering a failsafe due to exceeding the maximum height above ground constraint.
It's essentially a race condition and does not always happen.
Fixes #{Github issue ID
Solution
Allow airspeed fusion to start based on threshold defined via parameter.
EKF2_ARSP_THRChangelog Entry
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