From 4a71984f77249230787b7d263d866d6cfa78a7ac Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Fri, 26 Apr 2019 13:56:40 +0200 Subject: [PATCH] simulator: remove hack for diff_pressure noise The noise for airspeed is now applied on the Gazebo side and we can remove this hack. --- src/modules/simulator/simulator_mavlink.cpp | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp index 018fe0aa3b..e16890043f 100644 --- a/src/modules/simulator/simulator_mavlink.cpp +++ b/src/modules/simulator/simulator_mavlink.cpp @@ -262,9 +262,7 @@ void Simulator::update_sensors(const mavlink_hil_sensor_t *imu) RawAirspeedData airspeed = {}; airspeed.temperature = imu->temperature; - // FIXME: diff_pressure needs some noise to pass preflight checks, so we just take the - // noise from the gyro. - airspeed.diff_pressure = imu->diff_pressure + ((imu->ygyro > 0) ? 0.001f : 0.0f); + airspeed.diff_pressure = imu->diff_pressure; write_airspeed_data(&airspeed); }