// return an airspeed estimate if available
bool AP_AHRS_DCM::airspeed_estimate(float *airspeed_ret) const
{
bool ret = false;
if (airspeed_sensor_enabled()) {
*airspeed_ret = _airspeed->get_airspeed();
return true;
}
if (!_flags.wind_estimation) {
return false;
}
// estimate it via GPS speed and wind
if (have_gps()) {
*airspeed_ret = _last_airspeed;
ret = true;
}
if (ret && _wind_max > 0 && _gps.status() >= AP_GPS::GPS_OK_FIX_2D) {
// constrain the airspeed by the ground speed
// and AHRS_WIND_MAX
float gnd_speed = _gps.ground_speed();
float true_airspeed = *airspeed_ret * get_EAS2TAS();
true_airspeed = constrain_float(true_airspeed,
gnd_speed - _wind_max,
gnd_speed + _wind_max);
*airspeed_ret = true_airspeed / get_EAS2TAS();
}
return ret;
}
// return air density / sea level density - decreases as altitude climbs
float AP_Baro::get_air_density_ratio(void)
{
float eas2tas = get_EAS2TAS();
if (eas2tas > 0.0f) {
return 1.0f/(sq(get_EAS2TAS()));
} else {
return 1.0f;
}
}
// update our wind speed estimate
void AP_AHRS_DCM::estimate_wind(void)
{
if (!_flags.wind_estimation) {
return;
}
const Vector3f &velocity = _last_velocity;
// this is based on the wind speed estimation code from MatrixPilot by
// Bill Premerlani. Adaption for ArduPilot by Jon Challinger
// See http://gentlenav.googlecode.com/files/WindEstimation.pdf
Vector3f fuselageDirection = _dcm_matrix.colx();
Vector3f fuselageDirectionDiff = fuselageDirection - _last_fuse;
uint32_t now = AP_HAL::millis();
// scrap our data and start over if we're taking too long to get a direction change
if (now - _last_wind_time > 10000) {
_last_wind_time = now;
_last_fuse = fuselageDirection;
_last_vel = velocity;
return;
}
float diff_length = fuselageDirectionDiff.length();
if (diff_length > 0.2f) {
// when turning, use the attitude response to estimate
// wind speed
float V;
Vector3f velocityDiff = velocity - _last_vel;
// estimate airspeed it using equation 6
V = velocityDiff.length() / diff_length;
Vector3f fuselageDirectionSum = fuselageDirection + _last_fuse;
Vector3f velocitySum = velocity + _last_vel;
_last_fuse = fuselageDirection;
_last_vel = velocity;
float theta = atan2f(velocityDiff.y, velocityDiff.x) - atan2f(fuselageDirectionDiff.y, fuselageDirectionDiff.x);
float sintheta = sinf(theta);
float costheta = cosf(theta);
Vector3f wind = Vector3f();
wind.x = velocitySum.x - V * (costheta * fuselageDirectionSum.x - sintheta * fuselageDirectionSum.y);
wind.y = velocitySum.y - V * (sintheta * fuselageDirectionSum.x + costheta * fuselageDirectionSum.y);
wind.z = velocitySum.z - V * fuselageDirectionSum.z;
wind *= 0.5f;
if (wind.length() < _wind.length() + 20) {
_wind = _wind * 0.95f + wind * 0.05f;
}
_last_wind_time = now;
} else if (now - _last_wind_time > 2000 && airspeed_sensor_enabled()) {
// when flying straight use airspeed to get wind estimate if available
Vector3f airspeed = _dcm_matrix.colx() * _airspeed->get_airspeed();
Vector3f wind = velocity - (airspeed * get_EAS2TAS());
_wind = _wind * 0.92f + wind * 0.08f;
}
}
// return airspeed estimate if available
bool BC_AHRS::airspeed_estimate(float *airspeed_ret) const
{
if (_airspeed && _airspeed->use()) {
*airspeed_ret = _airspeed->get_airspeed();
if (_wind_max > 0 && _gps.status() >= AP_GPS::GPS_OK_FIX_2D) {
// constrain the airspeed by the ground speed
// and AHRS_WIND_MAX
float gnd_speed = _gps.ground_speed();
float true_airspeed = *airspeed_ret * get_EAS2TAS();
true_airspeed = constrain_float(true_airspeed,
gnd_speed - _wind_max,
gnd_speed + _wind_max);
*airspeed_ret = true_airspeed / get_EAS2TAS();
}
return true;
}
return false;
}