From 27a3b5fb36f734ca925b24d73fd2cc030f51a531 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Thu, 10 Apr 2014 06:49:13 +1000
Subject: [PATCH] AP_AHRS: fixed wind reporting with EKF and no airspeed sensor
the EKF does not estimate wind without an airspeed sensor
---
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp | 4 +++-
1 file changed, 3 insertions(+), 1 deletion(-)
diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
index 9647d30d5..cb19b212b 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
@@ -122,7 +122,9 @@ float AP_AHRS_NavEKF::get_error_yaw(void)
// return a wind estimation vector, in m/s
Vector3f AP_AHRS_NavEKF::wind_estimate(void)
{
- if (!using_EKF()) {
+ if (!using_EKF() || !_airspeed || !_airspeed->use()) {
+ // EKF does not estimate wind speed when there is no airspeed
+ // sensor active
return AP_AHRS_DCM::wind_estimate();
}
Vector3f wind;
--
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