@lenorin wrote:
I've been doing a lot of work with characterizing wind rejection and noticed that position hold has some sort of wind estimator. No other GPS enabled modes seem to. This seems like something that maybe could be actually more formally part of the navigation system as having a velocity feed forward that's based on the perceived steady state wind, at least intuitively to me, seems like it could improve the precision of operating in non-zero wind conditions.
Just spit-balling here, but generally it seems like it should be possible to compare the drone airspeed and ground speed based on its current tilt/throttle output and ground speed, and use that to filter out a rough wind estimate to use in a FF loop.
This could also be used for stuff like precision landing, RTL, loiter, etc.
As an aside, has anybody had experience with how well/poorly the wind estimation/ff rejection pos control works and really why would one use loiter over pos control or vice versa?
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