fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-17 14:17:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

airspeed_selector: fix groundspeed typos

Browse Source
This commit is contained in:
Daniel Agar
2023-07-06 12:05:03 -04:00
parent f5fd369ce8
commit c0a56ce268
1 changed files with 3 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/airspeed_selector/AirspeedValidator.cpp
+3 -3
View File
@@ -136,11 +136,11 @@ AirspeedValidator::update_CAS_scale_validated(bool lpos_valid, const matrix::Vec
TAS_sum += _scale_check_TAS(i);
}
const float TAS_to_grounspeed_error_current = ground_speed_sum - TAS_sum * _CAS_scale_validated;
const float TAS_to_grounspeed_error_new = ground_speed_sum - TAS_sum * _wind_estimator.get_tas_scale();
const float TAS_to_groundspeed_error_current = ground_speed_sum - TAS_sum * _CAS_scale_validated;
const float TAS_to_groundspeed_error_new = ground_speed_sum - TAS_sum * _wind_estimator.get_tas_scale();
// check passes if the average airspeed with the scale applied is closer to groundspeed than without
if (fabsf(TAS_to_grounspeed_error_new) < fabsf(TAS_to_grounspeed_error_current)) {
if (fabsf(TAS_to_groundspeed_error_new) < fabsf(TAS_to_groundspeed_error_current)) {
// constrain the scale update to max 0.05 at a time
const float new_scale_constrained = math::constrain(_wind_estimator.get_tas_scale(), _CAS_scale_validated - 0.05f,