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Merge pull request #3268 from wingtra/airspeed_indicated_q_est

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q_estimator uses indicated airspeed instead of tas
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Roman Bapst
2015-11-25 17:06:13 +01:00
parent 621c5b3e62 b83170b7c3
commit 2c07668b2f
1 changed files with 1 additions and 1 deletions
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src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+1 -1
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@@ -601,7 +601,7 @@ void AttitudeEstimatorQ::task_main()
ctrl_state.yaw_rate = _lp_yaw_rate.apply(_rates(2)); ctrl_state.yaw_rate = _lp_yaw_rate.apply(_rates(2));
/* Airspeed - take airspeed measurement directly here as no wind is estimated */ /* Airspeed - take airspeed measurement directly here as no wind is estimated */
ctrl_state.airspeed = _airspeed.true_airspeed_m_s; ctrl_state.airspeed = _airspeed.indicated_airspeed_m_s;
/* Publish to control state topic */ /* Publish to control state topic */
if (_ctrl_state_pub == nullptr) { if (_ctrl_state_pub == nullptr) {