Fix NED/NEU mismatch in wind estimator Z-axis consumers - #23
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Fix NED/NEU mismatch in wind estimator Z-axis consumers#23sensei-hacker wants to merge 1 commit into
sensei-hacker wants to merge 1 commit into
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PR iNavFlight#11855 changed getEstimatedWindSpeed(Z)'s output convention from NED to NEU to restore internal consistency with posEstimator.gps.vel.z (NEU). Confirmed empirically via SITL/JSBSim wind injection. Two consumers (rth_estimator.c, osd.c) still applied their old "NED to NEU" negation, which now double-flips the sign of vertical wind used in RTH glide-distance estimation and the OSD vertical wind indicator. Removes the now-obsolete negation in both places, and adds "// NED" / "// NEU" markers at every place a Z-axis wind estimate value is read, written, or passed, so the convention is explicit rather than requiring re-derivation.
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Closing — targeted the wrong base. iNavFlight#11855 has already been merged; reopening this as a PR against upstream maintenance-10.x instead. |
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Summary
This PR's
fuselageDirection[Z]sign flip changesgetEstimatedWindSpeed(Z)'s output convention from NED to NEU, matchingposEstimator.gps.vel.z's own established NEU convention — confirmed empirically via SITL/JSBSim wind injection (a known downdraft produces a negative rawwind[2]).Two consumers were left unchanged and still apply the old "convert NED to NEU" negation, which now double-flips the sign:
rth_estimator.c:156(vertical wind used in RTH glide-distance/energy estimation)io/osd.c:3768(OSD vertical wind speed indicator)Changes
-///from NED to NEUnegation in both consumers above.pitotmeter.c's virtual-airspeed path — it was already NEU-NEU consistent.// NED/// NEUmarkers at every place a Z-axis wind value is read, written, or passed (wind_estimator.c/.h,blackbox.c), so the convention no longer requires re-derivation.Testing
Builds clean (SITL, no new warnings). Verified against this PR's actual commit (based on
abo_windestimator_fixes).