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control state: indicate if airspeed is not valid

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Roman
2015-12-11 09:49:04 +01:00
committed by Lorenz Meier
parent 48bbe8f6ba
commit 27e1aaeea5
5 changed files with 25 additions and 8 deletions
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src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+8 -1
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@@ -623,7 +623,14 @@ void AttitudeEstimatorQ::task_main()
ctrl_state.yaw_rate = _lp_yaw_rate.apply(_rates(2));
/* Airspeed - take airspeed measurement directly here as no wind is estimated */
ctrl_state.airspeed = _airspeed.indicated_airspeed_m_s;
if (PX4_ISFINITE(_airspeed.indicated_airspeed_m_s) && hrt_absolute_time() - _airspeed.timestamp < 1e6
&& _airspeed.timestamp > 0) {
ctrl_state.airspeed = _airspeed.indicated_airspeed_m_s;
ctrl_state.airspeed_valid = true;
} else {
ctrl_state.airspeed_valid = false;
}
/* Publish to control state topic */
if (_ctrl_state_pub == nullptr) {