Hi everyone !
I am working on PX4 Gazebo, with the model “advanced_plane” and I have problems with the wind speed estimation.
Indeed, I created a windy environment where I can choose a wind speed that varies linearly with altitude for example. When I print the values in the terminal (to try to debug the code), the wind speed follows the linear law (or another one if I want, such as logarithmic). So, my windy field is working.
During the mission, my plane follows an inclined circular trajectory. So, the altitude is varying. But on QGC, the wind speed doesn’t follow at all the real wind speed. It is as if the wind didn’t have the time to change with altitude (it is an image of course, because the wind field is “fixed” ).
So, I checked the code but I don’t see the problem and then reading documentation, I understood it is because the wind speed I read on QGC (and also in the ulg file after a simulation) comes from the estimation of the plane via EKF2.
First, is it true ?
And my second question is about the accuracy of the wind speed estimation. If it is true, so the energy, the power and so on depend on this wind speed estimation.
At the end, my goal it to do Dynamic Soaring. But if the wind speed estimation is not accurate enough, I won’t be able to read sufficient wind gradients for example. In fact, in reality, there is a gradient but if the estimation is not good enough, then the plane won’t feel this gradient.
Can you help me please to improve the accuracy of the wind speed estimation and say me whether it is the relevant parameter to work on or not ?
I tried to change some things like “EKF2_ARSP_THR”, “EKF2_FUSE_BETA”, “EKF2_WIND_NSD” but I don’t see big changes.
I also used the code “baro_static_pressure_compensation_tuning.py” to get parameters. But it doesn’t change anything. Furthermore, does someone know which kind of mission should I do to tune these parameters ? Because I think it depends on the mission and the wind, no ? Is there an ideal mission ?
Do you have an idea please ?
Best regards !