From 42d0522cddf191c66a14f7e9d7661f9c95a64be6 Mon Sep 17 00:00:00 2001 From: Roman Date: Wed, 24 Apr 2019 13:48:02 +0200 Subject: [PATCH] FixedWingAttitudeControl: removed check for negative airspeed and slew rate on airspeed scaling Signed-off-by: Roman --- src/modules/fw_att_control/FixedwingAttitudeControl.cpp | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp index b91d146b57..8c59b5a4be 100644 --- a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp +++ b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp @@ -472,7 +472,6 @@ float FixedwingAttitudeControl::get_airspeed_and_update_scaling() { _airspeed_sub.update(); const bool airspeed_valid = PX4_ISFINITE(_airspeed_sub.get().indicated_airspeed_m_s) - && (_airspeed_sub.get().indicated_airspeed_m_s >= 0.0f) && (hrt_elapsed_time(&_airspeed_sub.get().timestamp) < 1_s); if (!airspeed_valid) { @@ -503,9 +502,8 @@ float FixedwingAttitudeControl::get_airspeed_and_update_scaling() * Forcing the scaling to this value allows reasonable handheld tests. */ const float airspeed_constrained = math::constrain(airspeed, _parameters.airspeed_min, _parameters.airspeed_max); - const float airspeed_scaling = _parameters.airspeed_trim / airspeed_constrained; + _airspeed_scaling = _parameters.airspeed_trim / airspeed_constrained; - _airspeed_scaling = math::constrain(airspeed_scaling, _airspeed_scaling - 0.01f, _airspeed_scaling + 0.01f); return airspeed; }