fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-13 22:43:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

replace IAS with EAS in FW attitude controller (#14868)

Browse Source 
The EAS is the calibrated airspeed corrected with a scaling factor to account for sensor error/placement of pitot.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2020-05-08 10:46:24 +02:00
committed by GitHub
parent 678c3fe8e4
commit 0c75385395
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+2 -2
View File
@@ -235,7 +235,7 @@ FixedwingAttitudeControl::vehicle_land_detected_poll()
float FixedwingAttitudeControl::get_airspeed_and_update_scaling()
{
_airspeed_validated_sub.update();
const bool airspeed_valid = PX4_ISFINITE(_airspeed_validated_sub.get().indicated_airspeed_m_s)
const bool airspeed_valid = PX4_ISFINITE(_airspeed_validated_sub.get().equivalent_airspeed_m_s)
&& (hrt_elapsed_time(&_airspeed_validated_sub.get().timestamp) < 1_s);
// if no airspeed measurement is available out best guess is to use the trim airspeed
@@ -243,7 +243,7 @@ float FixedwingAttitudeControl::get_airspeed_and_update_scaling()
if ((_param_fw_arsp_mode.get() == 0) && airspeed_valid) {
/* prevent numerical drama by requiring 0.5 m/s minimal speed */
airspeed = math::max(0.5f, _airspeed_validated_sub.get().indicated_airspeed_m_s);
airspeed = math::max(0.5f, _airspeed_validated_sub.get().equivalent_airspeed_m_s);
} else {
// VTOL: if we have no airspeed available and we are in hover mode then assume the lowest airspeed possible