From 490f40bee161112c55c09c865ce9be9e96ea65d6 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 6 Aug 2017 20:04:39 +0200 Subject: [PATCH] Sensors: Use temperature for airspeed validation to avoid false positives for high-performance airspeed sensors This is required to enable new high-performance sensors which otherwise would provide incorrect readings. --- src/modules/sensors/sensors.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 3b87e133f2..7e7ef2cd31 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -337,7 +337,9 @@ Sensors::diff_pres_poll(struct sensor_combined_s &raw) _airspeed.timestamp = _diff_pres.timestamp; /* push data into validator */ - _airspeed_validator.put(_airspeed.timestamp, _diff_pres.differential_pressure_raw_pa, _diff_pres.error_count, + float airspeed_input[3] = { _diff_pres.differential_pressure_raw_pa, _diff_pres.temperature, 0.0f }; + + _airspeed_validator.put(_airspeed.timestamp, airspeed_input, _diff_pres.error_count, ORB_PRIO_HIGH); _airspeed.confidence = _airspeed_validator.confidence(hrt_absolute_time());