Hi - I would like to discuss fusion of data from multiple airspeed sensors. We are building a VTOL drone with airspeed sensors at either wingtip and we are interested in combining the data from both sensors for better windspeed and state estimation. We are currently using a fork of PX4 1.14.
We are debating two approaches (a) modifying the existing EKF2 to incorporate the airspeed data from both sensors directly in the main EKF2 loop, or (b) creating a second EKF that blends the data from the two sensors, then passes the resulting airspeed estimate into EKF2.
We are still at the beginning of this process, and are hoping to get some input on pros and cons of each approach from anyone who has attempted something similar, or anyone with more extensive experience with EKF2.