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SIH: fix airspeed for tailsitter

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
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RomanBapst 2024-09-10 17:50:03 +03:00 committed by Roman Bapst
parent 4713a6737e
commit 878c8bfcce
1 changed files with 2 additions and 1 deletions
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src/modules/simulation/simulator_sih/sih.cpp
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@ -450,7 +450,8 @@ void Sih::send_airspeed(const hrt_abstime &time_now_us)
// TODO: send differential pressure instead?
airspeed_s airspeed{};
airspeed.timestamp_sample = time_now_us;
airspeed.true_airspeed_m_s = fmaxf(0.1f, _v_B(0) + generate_wgn() * 0.2f);
// airspeed sensor is mounted along the negative Z axis since the vehicle is a tailsitter
airspeed.true_airspeed_m_s = fmaxf(0.1f, -_v_B(2) + generate_wgn() * 0.2f);
airspeed.indicated_airspeed_m_s = airspeed.true_airspeed_m_s * sqrtf(_wing_l.get_rho() / RHO);
airspeed.air_temperature_celsius = NAN;
airspeed.confidence = 0.7f;