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FW controllers: change param FW_ARSP_MODE to FW_USE_AIRSPD

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-12-21 11:34:28 +01:00
parent 1f2a0bc657
commit 9e0c8fd75e
14 changed files with 35 additions and 19 deletions
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src/modules/vtol_att_control/standard.cpp
+1 -1
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@@ -217,7 +217,7 @@ void Standard::update_transition_state()
_airspeed_trans_blend_margin;
// time based blending when no airspeed sensor is set
} else if (_param_fw_arsp_mode.get() || !PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)) {
} else if (!_param_fw_use_airspd.get() || !PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)) {
mc_weight = 1.0f - _time_since_trans_start / getMinimumFrontTransitionTime();
mc_weight = math::constrain(2.0f * mc_weight, 0.0f, 1.0f);