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sensors remove airspeed negative check

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Daniel Agar
2018-07-16 01:09:19 -04:00
parent 79f172eb92
commit 9a4de09325
4 changed files with 26 additions and 19 deletions
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src/modules/vtol_att_control/standard.cpp
+2
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@@ -245,8 +245,10 @@ void Standard::update_transition_state()
// do blending of mc and fw controls if a blending airspeed has been provided and the minimum transition time has passed
if (_airspeed_trans_blend_margin > 0.0f &&
_airspeed->indicated_airspeed_m_s > 0.0f &&
_airspeed->indicated_airspeed_m_s >= _params->airspeed_blend &&
time_since_trans_start > _params->front_trans_time_min) {
mc_weight = 1.0f - fabsf(_airspeed->indicated_airspeed_m_s - _params->airspeed_blend) /
_airspeed_trans_blend_margin;
// time based blending when no airspeed sensor is set