fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-18 17:30:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf-replay: fix airspeed replay

Browse Source 
If available, the EKF uses airspeed_validated, not airspeed
This commit is contained in:
bresch
2025-01-24 14:52:30 +01:00
committed by Daniel Agar
parent c3ba39f931
commit c76e74338b
5 changed files with 13 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF2.cpp
+4
View File
@@ -745,6 +745,7 @@ void EKF2::Run()
ekf2_timestamps_s ekf2_timestamps {
.timestamp = now,
.airspeed_timestamp_rel = ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID,
.airspeed_validated_timestamp_rel = ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID,
.distance_sensor_timestamp_rel = ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID,
.optical_flow_timestamp_rel = ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID,
.vehicle_air_data_timestamp_rel = ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID,
@@ -2080,6 +2081,9 @@ void EKF2::UpdateAirspeedSample(ekf2_timestamps_s &ekf2_timestamps)
}
_airspeed_validated_timestamp_last = airspeed_validated.timestamp;
ekf2_timestamps.airspeed_validated_timestamp_rel = (int16_t)((int64_t)airspeed_validated.timestamp / 100 -
(int64_t)ekf2_timestamps.timestamp / 100);
}
} else if (((ekf2_timestamps.timestamp - _airspeed_validated_timestamp_last) > 3_s) && _airspeed_sub.updated()) {