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fw attitude: fix handling of invalid airspeed

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Thomas Gubler
2013-11-14 14:36:52 +01:00
parent 4ba80eb3c9
commit f337d62f2d
1 changed files with 2 additions and 2 deletions
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src/modules/fw_att_control/fw_att_control_main.cpp
+2 -2
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@@ -635,9 +635,9 @@ FixedwingAttitudeControl::task_main()
/* if airspeed is smaller than min, the sensor is not giving good readings */
if (!_airspeed_valid ||
(_airspeed.indicated_airspeed_m_s < _parameters.airspeed_min) ||
(_airspeed.indicated_airspeed_m_s < 0.1f * _parameters.airspeed_min) ||
!isfinite(_airspeed.indicated_airspeed_m_s)) {
airspeed = _parameters.airspeed_min + (_parameters.airspeed_max - _parameters.airspeed_min) / 2.0f;
airspeed = _parameters.airspeed_trim;
} else {
airspeed = _airspeed.indicated_airspeed_m_s;