Plane: Enable quadplane dead reckoning navigation to start earlier #27883
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ArduPlane/ArduPlane.cpp
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| @@ -505,6 +505,11 @@ void Plane::update_fly_forward(void) | |||
| return; | |||
| } | |||
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| if (quadplane.in_transition()) { | |||
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I think this does need an option, and off by default, likely need Q_OPTION2
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Logs reflect the new bit being set, 'though does highlights oddities in setting and unsetting this bit as we go through transitions. This image shows that the bit has the intended effect of setting fly-forward earlier in the transition from qhover to cruise: this image (with the bit set,) shows we glitch fly-forward flag to zero in some stage of the forward transition: |
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I think its a good idea, but I think just in transition is is a bit too coarse. Maybe a new method for the the transition class? I think we would be OK to turn on fly forward in the timer stage but maybe not airspeed wait. |
peterbarker
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| @@ -87,14 +87,21 @@ class AP_DAL { | |||
| void log_writeDefaultAirSpeed3(const float aspeed, const float uncertainty); | |||
| void log_writeEulerYawAngle(float yawAngle, float yawAngleErr, uint32_t timeStamp_ms, uint8_t type); | |||
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| enum class StateMask { | |||
| enum class RFRNFlags { | |||
| }; | ||
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| // EKF ID for timing checks | ||
| enum class EKFType : uint8_t { | ||
| EKF2 = 0, | ||
| EKF3 = 1, | ||
| EKF2 = 2, |
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test here for bits, please check! |
doesn't actually really test the effect this has as I wasn't able to spot one immediately
This reduces EKF errors during transition fromVTOL to FW flight when operating without a GPS fix.
peterbarker
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This reduces EKF errors during transition fromVTOL to FW flight when operating without a GPS fix.