EKF3 wind state init for planes with no compass

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EKF3 wind state init for planes with no compass #18718

Open tridge opened 3 years ago

tridge commented 3 years ago

For fixed wing conventional takeoff vehicles with no compass the wind states in EKF3 are being initialised equal to the ground speed at the point the yaw is aligned based on GPS movement. This leads to a very poor initial airspeed estimate. There is a plane 4.1.0 replay log here: http://uav.tridgell.net/tmp/wind-est-no-mag.bin

amilcarlucas commented 3 years ago

The fix got merged, can this be closed?