AirspeedSelector: increase default of ASPD_WERR_THR #25225
+5
−5
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Signed-off-by: Silvan <[email protected]>
The previous default of 0.55m/s was very restrictive, the ground-minus-wind airspeed estimate was barely ever valid with it. Signed-off-by: Silvan <[email protected]>
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Solved Problem
The default is very low, leading to the ground-minus-wind airspeed approximation being declared invalid all the time.
Solution
Increase the default. And update the param meta data while on it.
I also consider removing the param and hard-code it.
Changelog Entry
For release notes:
Context
I got to the new default of 2m/s by looking at a bunch of logs from different vehicles and different conditions. Screenshots attached below. We generally want to not yet validate it right after init (the variance was around 6 there usually), and when on very long straight flight paths (see second screenshot).
The check is here, sqrt(variance_north + variance_east).
Note: since #24522 we have an alternative "synthetic" airspeed, based purely on the vehicle mode and the current thrust setpoint.