Mirrors_Framework/PX4-Autopilot
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tumbili
2016-06-08 12:40:39 +02:00
committed by Roman
parent c2da51ccf5
commit 1bce38bd9b
2 changed files with 10 additions and 6 deletions
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src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+5 -3
View File
@@ -634,12 +634,14 @@ void AttitudeEstimatorQ::task_main()
// use estimated velocity for airspeed estimate
if (_airspeed_mode == 1) {
if (hrt_absolute_time() - _gpos.timestamp < 1e6) {
ctrl_state.airspeed = sqrtf(_gpos.vel_n * _gpos.vel_n + _gpos.vel_e * _gpos.vel_e +_gpos.vel_d * _gpos.vel_d);
ctrl_state.airspeed = sqrtf(_gpos.vel_n * _gpos.vel_n + _gpos.vel_e * _gpos.vel_e + _gpos.vel_d * _gpos.vel_d);
}
// do nothing, airspeed has been declared as non-valid above, controllers will handle this assuming always trim airspeed
// do nothing, airspeed has been declared as non-valid above, controllers will handle this assuming always trim airspeed
} else if (_airspeed_mode == 2) {
// use the measured airspeed
// use the measured airspeed
} else {
/* Airspeed - take airspeed measurement directly here as no wind is estimated */
if (PX4_ISFINITE(_airspeed.indicated_airspeed_m_s) && hrt_absolute_time() - _airspeed.timestamp < 1e6
src/modules/ekf2/ekf2_main.cpp
+5 -3
View File
@@ -667,12 +667,14 @@ void Ekf2::task_main()
// use estimated velocity for airspeed estimate
if (_airspeed_mode.get() == 1) {
if (_ekf.local_position_is_valid()) {
ctrl_state.airspeed = sqrtf(vel[0] * vel[0] + vel[1] * vel[1] +vel[2] * vel[2]);
ctrl_state.airspeed = sqrtf(vel[0] * vel[0] + vel[1] * vel[1] + vel[2] * vel[2]);
}
// do nothing, airspeed has been declared as non-valid above, controllers will handle this assuming always trim airspeed
// do nothing, airspeed has been declared as non-valid above, controllers will handle this assuming always trim airspeed
} else if (_airspeed_mode.get() == 2) {
// use the measured airspeed
// use the measured airspeed
} else {
/* Airspeed - take airspeed measurement directly here as no wind is estimated */
if (PX4_ISFINITE(airspeed.indicated_airspeed_m_s) && hrt_absolute_time() - airspeed.timestamp < 1e6