Improved virtual pitot calculation method#11646
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Test firmware build ready — commit Download firmware for PR #11646 238 targets built. Find your board's
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Changes the method used to calculate virtual airspeed which currently becomes inaccurate as pitch increases. At very high pitch angles yaw can suddenly flip causing a large abrupt unrealistic change in virtual airspeed.
The new method calculates velocities in earth frame using Nav velocities and wind velocities then transforms the wind corrected velocities to body frame. Virtual airspeed is considered be the body frame x velocity.
Seems to work in HITL testing. The sudden jumps in virtual airspeed seen with the old method at high pitch angles are gone with the velocity changing consistently.