ekf2: send airspeed data to ekf backend regardless of sign #23540
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On ground the airspeed can sometimes be slightly negative but the ekf should still know that airspeed data is flowing regularly
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sfuhrer
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Aug 13, 2024
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Solved Problem
On ground the airspeed can sometimes be slightly negative. If no airspeed data is sent to the backend, it cannot know that wind dead-reckoning will be possible post-takeoff and the inertial dead-reckoning is set.
See:
PX4-Autopilot/src/modules/ekf2/EKF/ekf_helper.cpp
Lines 757 to 763 in db8781e
Solution
Send airspeed data to ekf2 backend as long as finite but ignore sign.