Extreme wind estimation in EKF3 on poor fixed-wing throw

[peterbarker]

Bug report

Issue details

It was a hilariously poorly executed hand-launch of a 1kg foamy. As in wing hitting hat and inverted in auto 2m off the ground bad.... Thankfully I had a delightful audience :-) Small amounts of repair needed (https://www.youtube.com/watch?v=3m5qxZm_JqM)

Automation probably could not have saved this aircraft, but this 70 metres/second wind speed estimate was in the "unexpected" category:

For the record, I was not flying in 70m/s winds.

This vehicle does not have an airspeed sensor, so it will use EKF3's estimate of wind to derive an airspeed estimate, which it will then use for speed-scaling the control surfaces:

... limiting the commanded deflection:

The PIDs were demanding RLL2SRV_RMAX 160.000000 - but weren't getting it due to the speed scaling:

tridge suggested this might have been a bad yaw rate upsetting the EKF.

Version
master-ish. See my branch flight/crnch-20250119120303

Platform
[ ] All
[ ] AntennaTracker
[ ] Copter
[ x ] Plane
[ ] Rover
[ ] Submarine

Airframe type
Fixed-Wing foamy

Hardware type
MiniPix

Logs
Replayable log: https://drive.google.com/drive/folders/1dqYadL-dGJhcfzLcJD5fx21g36NzBWZw?usp=sharing