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fw att control: add timestamp dependency in airspeed check

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Thomas Gubler
2014-03-12 00:20:27 +01:00
parent 2f06f15240
commit a977ff2b62
1 changed files with 2 additions and 1 deletions
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src/modules/fw_att_control/fw_att_control_main.cpp
+2 -1
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@@ -632,7 +632,8 @@ FixedwingAttitudeControl::task_main()
/* if airspeed is smaller than min, the sensor is not giving good readings */ /* if airspeed is smaller than min, the sensor is not giving good readings */
if ((_airspeed.indicated_airspeed_m_s < 0.5f * _parameters.airspeed_min) || if ((_airspeed.indicated_airspeed_m_s < 0.5f * _parameters.airspeed_min) ||
!isfinite(_airspeed.indicated_airspeed_m_s)) { !isfinite(_airspeed.indicated_airspeed_m_s) ||
(float)hrt_elapsed_time(&_airspeed.timestamp) > 1e6f) {
airspeed = _parameters.airspeed_trim; airspeed = _parameters.airspeed_trim;
} else { } else {