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AirspeedSelector: fix attitude rotation for tailsitter

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-03-22 10:05:32 +01:00
parent 6bee0893de
commit edc570adff
3 changed files with 22 additions and 17 deletions
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src/modules/airspeed_selector/AirspeedValidator.hpp
+2 -2
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@@ -59,7 +59,7 @@ struct airspeed_validator_update_data {
bool lpos_valid;
float lpos_evh;
float lpos_evv;
float att_q[4];
matrix::Quatf q_att;
float air_pressure_pa;
float air_temperature_celsius;
float accel_z;
@@ -179,7 +179,7 @@ private:
void update_wind_estimator(const uint64_t timestamp, float airspeed_true_raw, bool lpos_valid,
const matrix::Vector3f &vI,
float lpos_evh, float lpos_evv, const float att_q[4]);
float lpos_evh, float lpos_evv, const Quatf &q_att);
void update_CAS_scale_validated(bool lpos_valid, const matrix::Vector3f &vI, float airspeed_true_raw);
void update_CAS_scale_applied();
void update_CAS_TAS(float air_pressure_pa, float air_temperature_celsius);