Hello,
I’m currently exploring sensor configurations for a VTOL aircraft and have a specific question regarding the use of multiple airspeed sensors with the EKF (specifically EKF2).
I understand that PX4 supports multiple airspeed sensors (e.g., via ASP_PRIMARY) primarily for redundancy – switching to a backup sensor if the primary one provides bad readings. However, I’m interested in a different approach: simultaneously feeding data from two independent airspeed sensors, mounted near the wingtips, into the EKF’s fusion process. We are using two airspeed sensors connected via the CAN bus.
The idea is not just to have a backup, but to leverage data from both sensors concurrently within the state estimator. We think is this might offer the following:
- Improved wind estimation, potentially capturing variations across the span of the wings or improving crosswind estimates.
- Improved airspeed estimation reliability or accuracy during the transition phases.
- Potentially filtering out noise if both sensors are healthy.
My main questions for the community are:
- Implementation: Has anyone attempted this specific configuration (dual wingtip sensors feeding the EKF simultaneously) on a VTOL or fixed-wing? If yes, could you offer any pointers on the approach taken?
- Experiences & Observations: For anyone who has tried this or a similar setup - what were your results? Did you observe any improvments in estimation quality, transition reliability, or flight performance?
- Pros & Cons Discussion: Even if you haven’t implemented it, I’d be very interested in hearing input on the potential advantages and disadvantages of fusing data from two wingtip airspeed sensors simultaneously within the EKF.
Thanks in advance for any insights or experiences you can share!