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Merge pull request #807 from PX4/trust_airspeed

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Do not make minimum airspeed assumptions, as we can trust our digital se...
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Lorenz Meier
2014-04-06 10:35:14 -07:00
parent e4cfdb4f9f ab60b13b6d
commit ceb287504c
1 changed files with 12 additions and 6 deletions
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src/modules/fw_att_control/fw_att_control_main.cpp
+12 -6
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@@ -660,18 +660,24 @@ FixedwingAttitudeControl::task_main()
float airspeed;
/* if airspeed is smaller than min, the sensor is not giving good readings */
if ((_airspeed.indicated_airspeed_m_s < 0.5f * _parameters.airspeed_min) ||
!isfinite(_airspeed.indicated_airspeed_m_s) ||
/* if airspeed is not updating, we assume the normal average speed */
if (!isfinite(_airspeed.true_airspeed_m_s) ||
hrt_elapsed_time(&_airspeed.timestamp) > 1e6) {
airspeed = _parameters.airspeed_trim;
} else {
airspeed = _airspeed.indicated_airspeed_m_s;
airspeed = _airspeed.true_airspeed_m_s;
}
float airspeed_scaling = _parameters.airspeed_trim / airspeed;
//warnx("aspd scale: %6.2f act scale: %6.2f", airspeed_scaling, actuator_scaling);
/*
* For scaling our actuators using anything less than the min (close to stall)
* speed doesn't make any sense - its the strongest reasonable deflection we
* want to do in flight and its the baseline a human pilot would choose.
*
* Forcing the scaling to this value allows reasonable handheld tests.
*/
float airspeed_scaling = _parameters.airspeed_trim / ((airspeed < _parameters.airspeed_min) ? _parameters.airspeed_min : airspeed);
float roll_sp = _parameters.rollsp_offset_rad;
float pitch_sp = _parameters.pitchsp_offset_rad;