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sensors remove airspeed negative check

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This commit is contained in:
Daniel Agar
2018-06-05 13:29:23 -04:00
parent 79f172eb92
commit 9a4de09325
4 changed files with 26 additions and 19 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+14 -9
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@@ -372,16 +372,21 @@ FixedwingPositionControl::manual_control_setpoint_poll()
void
FixedwingPositionControl::airspeed_poll()
{
if (!_parameters.airspeed_disabled && _sub_airspeed.updated()) {
_sub_airspeed.update();
_airspeed_valid = PX4_ISFINITE(_sub_airspeed.get().indicated_airspeed_m_s)
&& PX4_ISFINITE(_sub_airspeed.get().true_airspeed_m_s);
_airspeed_last_received = hrt_absolute_time();
_airspeed = _sub_airspeed.get().indicated_airspeed_m_s;
if (!_parameters.airspeed_disabled && _sub_airspeed.update()) {
if (_sub_airspeed.get().indicated_airspeed_m_s > 0.0f
&& _sub_airspeed.get().true_airspeed_m_s > _sub_airspeed.get().indicated_airspeed_m_s) {
_eas2tas = max(_sub_airspeed.get().true_airspeed_m_s / _sub_airspeed.get().indicated_airspeed_m_s, 1.0f);
const airspeed_s &airspeed = _sub_airspeed.get();
_airspeed_valid = PX4_ISFINITE(airspeed.indicated_airspeed_m_s)
&& PX4_ISFINITE(airspeed.true_airspeed_m_s)
&& (airspeed.indicated_airspeed_m_s > 0.0f);
_airspeed_last_received = hrt_absolute_time();
_airspeed = airspeed.indicated_airspeed_m_s;
if (_airspeed_valid
&& airspeed.true_airspeed_m_s > airspeed.indicated_airspeed_m_s) {
_eas2tas = max(airspeed.true_airspeed_m_s / airspeed.indicated_airspeed_m_s, 1.0f);
} else {
_eas2tas = 1.0f;