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4.6:AHRS_OPTIONS bit for airspeed #6317

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Nov 13, 2024
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4.6:AHRS_OPTIONS bit for airspeed #6317

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5 changes: 5 additions & 0 deletions plane/source/docs/airspeed.rst
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Expand Up @@ -143,6 +143,11 @@ By default, these functions are disabled.

:ref:`EKF3 affinity and lane switching <common-ek3-affinity-lane-switching>` is another option for dealing with airspeed sensor failure.

Balloon Drop
------------

In the special case of a high altitude balloon drop, the EKF will declare the airspeed sensor faulty since there is gps speed but no airspeed due to air density. This can result in TECS miss-applying pitch. In this special case , the :ref:`AHRS_OPTIONS<AHRS_OPTIONS>` bit 2 can be set to prevent EKF from declaring the airspeed sensor as faulty and continue to use it.

.. _arspd-sensor-list:

Airspeed sensors available from ArduPilot Partners:
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