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Update airspeed interface

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This commit is contained in:
kamilritz
2020-01-21 14:48:37 +01:00
committed by Paul Riseborough
parent b8a3ed5f09
commit 856961ba85
4 changed files with 14 additions and 11 deletions
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EKF/estimator_interface.cpp
+7 -7
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@@ -291,7 +291,7 @@ void EstimatorInterface::setBaroData(const baroSample &baro_sample)
}
}
void EstimatorInterface::setAirspeedData(uint64_t time_usec, float true_airspeed, float eas2tas)
void EstimatorInterface::setAirspeedData(const airspeedSample &airspeed_sample)
{
if (!_initialised || _airspeed_buffer_fail) {
return;
@@ -309,13 +309,13 @@ void EstimatorInterface::setAirspeedData(uint64_t time_usec, float true_airspeed
}
// limit data rate to prevent data being lost
if ((time_usec - _time_last_airspeed) > _min_obs_interval_us) {
airspeedSample airspeed_sample_new;
airspeed_sample_new.true_airspeed = true_airspeed;
airspeed_sample_new.eas2tas = eas2tas;
airspeed_sample_new.time_us = time_usec - _params.airspeed_delay_ms * 1000;
if ((airspeed_sample.time_us - _time_last_airspeed) > _min_obs_interval_us) {
_time_last_airspeed = airspeed_sample.time_us;
airspeedSample airspeed_sample_new = airspeed_sample;
airspeed_sample_new.time_us -= _params.airspeed_delay_ms * 1000;
airspeed_sample_new.time_us -= FILTER_UPDATE_PERIOD_MS * 1000 / 2;
_time_last_airspeed = time_usec;
_airspeed_buffer.push(airspeed_sample_new);
}