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ekf2: publish indicated airspeed in control state topic

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tumbili
2016-03-31 14:03:42 +02:00
parent 8810ee33a4
commit 2f48317a9e
1 changed files with 10 additions and 0 deletions
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src/modules/ekf2/ekf2_main.cpp
+10
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@@ -486,6 +486,16 @@ void Ekf2::task_main()
ctrl_state.q[2] = q(2);
ctrl_state.q[3] = q(3);
// Airspeed - take airspeed measurement directly here as no wind is estimated
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 control state data
if (_control_state_pub == nullptr) {
_control_state_pub = orb_advertise(ORB_ID(control_state), &ctrl_state);