AHRS: add option to disable EKF innovation check for airspeed #28257
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for some flight profiles (such as glider pullup) the EKF airpeed consistency check may be triggered, leading to a valid airspeed being ignored, which can lead TECS to be in non-airspeed mode
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I'm happy with this change in order to tackle the specific need for the balloon drop. Regarding gliders, I imagine it's always better to have it enabled, but I'm not that familiar with glider logic to be sure enough. |
Georacer
approved these changes
Sep 28, 2024
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This adds an AHRS_OPTION to disable the EKF check for innovation that disables airspeed
This is useful where the user wants to trust the airspeed sensor because the EKF innovation check may be unreliable