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SIH: do not assume being a tailsitter when creating airspeed measurement

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bresch
2024-11-25 14:46:23 +01:00
committed by Daniel Agar
parent a280d67be8
commit 1dad25b763
1 changed files with 1 additions and 2 deletions
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src/modules/simulation/simulator_sih/sih.cpp
+1 -2
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@@ -450,8 +450,7 @@ void Sih::send_airspeed(const hrt_abstime &time_now_us)
// TODO: send differential pressure instead?
airspeed_s airspeed{};
airspeed.timestamp_sample = time_now_us;
// airspeed sensor is mounted along the negative Z axis since the vehicle is a tailsitter
airspeed.true_airspeed_m_s = fmaxf(0.1f, -_v_B(2) + generate_wgn() * 0.2f);
airspeed.true_airspeed_m_s = fmaxf(0.1f, _v_B.norm() + generate_wgn() * 0.2f);
airspeed.indicated_airspeed_m_s = airspeed.true_airspeed_m_s * sqrtf(_wing_l.get_rho() / RHO);
airspeed.air_temperature_celsius = NAN;
airspeed.confidence = 0.7f;