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Airspeed selector: fix in_air_fixed_wing condition

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2021-05-03 22:47:45 +02:00
parent 596da5b7d3
commit b7e563bdbe
1 changed files with 4 additions and 3 deletions
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7
src/modules/airspeed_selector/airspeed_selector_main.cpp
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@ -314,7 +314,7 @@ AirspeedModule::Run()
// for fixed-wing landings.
const bool in_air_fixed_wing = !_vehicle_land_detected.landed &&
_position_setpoint.type != position_setpoint_s::SETPOINT_TYPE_LAND &&
_vehicle_status.system_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
// Prepare data for airspeed_validator
struct airspeed_validator_update_data input_data = {};
@ -348,8 +348,9 @@ AirspeedModule::Run()
input_data.air_temperature_celsius = airspeed_raw.air_temperature_celsius;
// takeoff situation is active from start till one of the sensors' IAS or groundspeed_CAS is above stall speed
if (airspeed_raw.indicated_airspeed_m_s > _param_fw_airspd_stall.get()
|| _ground_minus_wind_CAS > _param_fw_airspd_stall.get()) {
if (_in_takeoff_situation &&
(airspeed_raw.indicated_airspeed_m_s > _param_fw_airspd_stall.get() ||
_ground_minus_wind_CAS > _param_fw_airspd_stall.get())) {
_in_takeoff_situation = false;
}