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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/fw_att_control/fw_att_control_main.cpp
+3 -1
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@@ -889,11 +889,13 @@ FixedwingAttitudeControl::task_main()
float airspeed;
/* if airspeed is not updating, we assume the normal average speed */
if (bool nonfinite = !PX4_ISFINITE(_ctrl_state.airspeed)) {
if (bool nonfinite = !PX4_ISFINITE(_ctrl_state.airspeed) || !_ctrl_state.airspeed_valid) {
airspeed = _parameters.airspeed_trim;
if (nonfinite) {
perf_count(_nonfinite_input_perf);
}
} else {
/* prevent numerical drama by requiring 0.5 m/s minimal speed */
airspeed = math::max(0.5f, _ctrl_state.airspeed);