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Ability to disable airspeed scaling (#14334)

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Roman Dvořák
2020-03-10 12:57:36 +01:00
committed by GitHub
parent 05caa1f2d4
commit 152427ecdc
3 changed files with 19 additions and 1 deletions
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src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+2 -1
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@@ -263,7 +263,8 @@ float FixedwingAttitudeControl::get_airspeed_and_update_scaling()
* Forcing the scaling to this value allows reasonable handheld tests.
*/
const float airspeed_constrained = constrain(airspeed, _param_fw_airspd_min.get(), _param_fw_airspd_max.get());
_airspeed_scaling = _param_fw_airspd_trim.get() / airspeed_constrained;
_airspeed_scaling = (_param_fw_arsp_scale_en.get()) ? (_param_fw_airspd_trim.get() / airspeed_constrained) : 1.0f;
return airspeed;
}