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AirspeedSelector: some clean up

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-10-22 17:00:35 +02:00
parent 7537fa36c8
commit f9682b86d1
4 changed files with 21 additions and 24 deletions
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src/modules/airspeed_selector/airspeed_selector_main.cpp
+6 -6
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@@ -296,7 +296,7 @@ AirspeedModule::Run()
init(); // initialize airspeed validator instances
for (int i = 0; i < MAX_NUM_AIRSPEED_SENSORS; i++) {
_airspeed_validator[i].set_CAS_scale_estimated(_param_airspeed_scale[i]);
_airspeed_validator[i].set_CAS_scale_validated(_param_airspeed_scale[i]);
_airspeed_validator[i].set_scale_init(_param_airspeed_scale[i]);
}
@@ -388,25 +388,25 @@ AirspeedModule::Run()
// save estimated airspeed scale after disarm
if (!armed && _armed_prev) {
if (_param_aspd_scale_apply.get() > 1) {
if (fabsf(_airspeed_validator[i].get_CAS_scale_estimated() - _param_airspeed_scale[i]) > 0.01f) {
if (fabsf(_airspeed_validator[i].get_CAS_scale_validated() - _param_airspeed_scale[i]) > 0.01f) {
// apply the new scale if changed more than 0.01
mavlink_log_info(&_mavlink_log_pub, "Airspeed sensor Nr. %d ASPD_SCALE updated: %.2f --> %.2f", i + 1,
(double)_param_airspeed_scale[i],
(double)_airspeed_validator[i].get_CAS_scale_estimated());
(double)_airspeed_validator[i].get_CAS_scale_validated());
switch (i) {
case 0:
_param_airspeed_scale_1.set(_airspeed_validator[i].get_CAS_scale_estimated());
_param_airspeed_scale_1.set(_airspeed_validator[i].get_CAS_scale_validated());
_param_airspeed_scale_1.commit_no_notification();
break;
case 1:
_param_airspeed_scale_2.set(_airspeed_validator[i].get_CAS_scale_estimated());
_param_airspeed_scale_2.set(_airspeed_validator[i].get_CAS_scale_validated());
_param_airspeed_scale_2.commit_no_notification();
break;
case 2:
_param_airspeed_scale_3.set(_airspeed_validator[i].get_CAS_scale_estimated());
_param_airspeed_scale_3.set(_airspeed_validator[i].get_CAS_scale_validated());
_param_airspeed_scale_3.commit_no_notification();
break;
}