Andrew Tridgell
Andrew Tridgell
> The original concern about quadplanes violating the fly forward assumption when assisting and corrupting wind estimates turned out to be invalid because they weathervane as airspeed rises and the...
this also means if we stall in fixed wing mode then during recovery we will be setting fly forwad, is it OK to be lying to the EKF about our...
same in FBWA mode at zero throttle, we would be saying we are in fly fwd, we are in assisted flight in that case, possibly with zero airspeed
I think this looks great, needs approval by @priseborough
I think a waf configure --disable-can-table-coding would be worthwhile to help debug potential regressions
@chiara-septentrio please test! and if you can, do us a SITL simulator for SBF :-)
needs testing on quadplane, either real aircraft or realflight especially need to check the scale factor applied to rate control in transition
I've tested quadplane in RealFlight and it does look good to me
this was flight tested on a 5" quad, switching between EK2 and EK3 did not change position
> .. also should have an autotest not really sure how to do that ... the obvious method of not setting EK2_ENABLE=1 until after EK3 has set origin won't work,...