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Improve robustness to bad and lost airspeed data (#11846)

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Daniel Agar
2019-04-30 03:08:23 -04:00
committed by GitHub
parent 59ebb9af0a
commit 9bad61b86b
6 changed files with 405 additions and 6 deletions
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src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+2 -1
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@@ -472,7 +472,8 @@ float FixedwingAttitudeControl::get_airspeed_and_update_scaling()
{
_airspeed_sub.update();
const bool airspeed_valid = PX4_ISFINITE(_airspeed_sub.get().indicated_airspeed_m_s)
&& (hrt_elapsed_time(&_airspeed_sub.get().timestamp) < 1_s);
&& (hrt_elapsed_time(&_airspeed_sub.get().timestamp) < 1_s)
&& !_vehicle_status.aspd_use_inhibit;
if (!airspeed_valid) {
perf_count(_nonfinite_input_perf);