AP_NavEKF3: Fix yaw alignment bug preventing copter wind estimation #27636
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When the yaw is aligned to the GPS yaw, the recordYawResetsCompleted() function should be called the same as for any other yaw reset.
tridge
approved these changes
Jul 24, 2024
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Great to see this, thanks! |
92 tasks
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Sorry, I attempted to include this in 4.5.6-beta1 but it resulted in a compile error because this PR is built on top of #24899 For now at least this fix is not included in 4.5.6-beta1 |
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Hello! Do you think this fix will be included in the next beta? Can't wait to test it out! |
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Hi @bobzwik, AP-4.6.0 will start beta testing soon (probably next week) so that will be the first beta that this fix appears in. I don't think we will be able to include it in 4.5.x. At least I'm not confident about doing it without assistance from others. |
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This patch fixes the bug that was preventing copters using GPS yaw from using drag fusion to estimate wind. See #26650 for details
Testing in SITL using the https://github.com/ArduPilot/ardupilot/blob/master/Tools/autotest/default_params/copter-gps-for-yaw.parm parameters results in a wind speed being reported at the ground station with varying readings when EK3_DRAG_MCOEF is also set to a positive value.
The values reported are large and varying because the default SITL physics model does not model X and Y axis specific forces, however this test does show that that after the patch, wind estimation is active with a GPS yaw source.