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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/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+8 -1
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@@ -896,7 +896,14 @@ void AttitudePositionEstimatorEKF::publishControlState()
//_ctrl_state.airspeed = sqrt(pow(_ekf->states[4] - _ekf->states[14], 2) + pow(_ekf->states[5] - _ekf->states[15], 2) + pow(_ekf->states[6], 2));
// the line above was introduced by the control state PR. The airspeed it gives is totally wrong and leads to horrible flight performance in SITL
// and in outdoor tests
_ctrl_state.airspeed = _airspeed.true_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;
}
/* Attitude Rates */
_ctrl_state.roll_rate = _LP_att_P.apply(_ekf->dAngIMU.x / _ekf->dtIMU) - _ekf->states[10] / _ekf->dtIMUfilt;
_ctrl_state.pitch_rate = _LP_att_Q.apply(_ekf->dAngIMU.y / _ekf->dtIMU) - _ekf->states[11] / _ekf->dtIMUfilt;