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At every consumation of AirspeedValidated, check for SOURCE

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Signed-off-by: Silvan <silvan@auterion.com>
This commit is contained in:
Silvan
2025-05-02 13:37:18 +02:00
committed by Silvan Fuhrer
parent 5842c991ec
commit f7bb5d13f7
4 changed files with 23 additions and 6 deletions
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src/modules/land_detector/FixedwingLandDetector.cpp
+7 -2
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@@ -93,10 +93,15 @@ bool FixedwingLandDetector::_get_landed_state()
airspeed_validated_s airspeed_validated{};
_airspeed_validated_sub.copy(&airspeed_validated);
const bool airspeed_from_sensor = airspeed_validated.airspeed_source == airspeed_validated_s::SENSOR_1
|| airspeed_validated.airspeed_source == airspeed_validated_s::SENSOR_2
|| airspeed_validated.airspeed_source == airspeed_validated_s::SENSOR_3;
bool airspeed_invalid = false;
// set _airspeed_filtered to 0 if airspeed data is invalid
if (!PX4_ISFINITE(airspeed_validated.true_airspeed_m_s) || hrt_elapsed_time(&airspeed_validated.timestamp) > 1_s) {
// set _airspeed_filtered to 0 if airspeed data is invalid or not from an actual airspeed sensor
if (!airspeed_from_sensor || !PX4_ISFINITE(airspeed_validated.true_airspeed_m_s)
|| hrt_elapsed_time(&airspeed_validated.timestamp) > 1_s) {
_airspeed_filtered = 0.0f;
airspeed_invalid = true;