fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-27 07:33:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: use validated airspeed from airspeed sensor only

Browse Source 
don't use synthetic measurements to prevent circular dependency
This commit is contained in:
bresch
2022-09-23 09:26:47 -04:00
committed by Daniel Agar
parent 8080ca966a
commit cddade2047
1 changed files with 1 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF2.cpp
+1
View File
@@ -1576,6 +1576,7 @@ void EKF2::UpdateAirspeedSample(ekf2_timestamps_s &ekf2_timestamps)
if (PX4_ISFINITE(airspeed_validated.true_airspeed_m_s) if (PX4_ISFINITE(airspeed_validated.true_airspeed_m_s)
&& PX4_ISFINITE(airspeed_validated.calibrated_airspeed_m_s) && PX4_ISFINITE(airspeed_validated.calibrated_airspeed_m_s)
&& (airspeed_validated.calibrated_airspeed_m_s > 0.f) && (airspeed_validated.calibrated_airspeed_m_s > 0.f)
&& (airspeed_validated.selected_airspeed_index > 0)
) { ) {
airspeedSample airspeed_sample { airspeedSample airspeed_sample {
.time_us = airspeed_validated.timestamp, .time_us = airspeed_validated.timestamp,