ardupilot icon indicating copy to clipboard operation
ardupilot copied to clipboard
verified publisher icon ArduPilot

AP_AHRS: External wind extimate handler for EKF3

Open suraqis opened this issue 10 months ago • 7 comments

AP_AHRS: External wind extimate handler for EKF3

Added MAV_CMD_EXTERNAL_WIND_ESTIMATE message handler similar to MAV_CMD_EXTERNAL_POSITION_ESTIMATE with replay logging and lua binding

suraqis avatar May 04 '25 17:05 suraqis

Hi @suraqis,

Thanks for this, one small thing is that all our commits are normally prefixed with the directory name to make backporting easier. So for example, "External wind estimate for EKF3" should be, "AP_NavEKF3: External wind estimate for EKF3"

Also each commit should only affect a single subsystem or directory. It looks like, "External wind estimate for EKF3" includes Lua bindings changes so those should be moved out of the commit

Finally, it would be good to rebase on master to get rid of the "Merge branch .." commit

thanks again!

rmackay9 avatar May 04 '25 23:05 rmackay9

We have this PR already for this which contains Paul's code: https://github.com/ArduPilot/ardupilot/pull/28279

peterbarker avatar May 05 '25 09:05 peterbarker

We have this PR already for this which contains Paul's code: #28279

And unfortunately, I found a lost commit in my PR with DAL changes, so I'd better close my PR?

Any chances to have it in 4.6?

suraqis avatar May 05 '25 15:05 suraqis

We have this PR already for this which contains Paul's code: #28279 And unfortunately, I found a lost commit in my PR with DAL changes, so I'd better close my PR?

Yeah, sorry, this one's been hanging around for a while, just hasn't had that last push into master.

Any chances to have it in 4.6?

Probably not in 4.6.0 - but if you can provide testing confirmation on my PR I'm quite happy to provide a backport branch and/or build for you into 4.6.

peterbarker avatar May 12 '25 07:05 peterbarker

What are requirements for that test? How much time we have to get into 4.6?

suraqis avatar May 13 '25 06:05 suraqis

What are requirements for that test? How much time we have to get into 4.6?

OK, so now it's a matter of getting things into 4.7.

Are you able to test Paul's branch?

peterbarker avatar Nov 04 '25 10:11 peterbarker

OK, so now it's a matter of getting things into 4.7.

Are you able to test Paul's branch?

I merged it to 4.6 and flew it many times, works well. Are there any chances to have it merged into upcoming 4.6 updates?

suraqis avatar Dec 08 '25 17:12 suraqis