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FixedWingAttitudeControl: removed check for negative airspeed and slew rate

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on airspeed scaling

Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2019-04-24 13:48:02 +02:00
committed by Lorenz Meier
parent 36aeb9defc
commit 42d0522cdd
1 changed files with 1 additions and 3 deletions
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src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+1 -3
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@@ -472,7 +472,6 @@ float FixedwingAttitudeControl::get_airspeed_and_update_scaling()
{
_airspeed_sub.update();
const bool airspeed_valid = PX4_ISFINITE(_airspeed_sub.get().indicated_airspeed_m_s)
&& (_airspeed_sub.get().indicated_airspeed_m_s >= 0.0f)
&& (hrt_elapsed_time(&_airspeed_sub.get().timestamp) < 1_s);
if (!airspeed_valid) {
@@ -503,9 +502,8 @@ float FixedwingAttitudeControl::get_airspeed_and_update_scaling()
* Forcing the scaling to this value allows reasonable handheld tests.
*/
const float airspeed_constrained = math::constrain(airspeed, _parameters.airspeed_min, _parameters.airspeed_max);
const float airspeed_scaling = _parameters.airspeed_trim / airspeed_constrained;
_airspeed_scaling = _parameters.airspeed_trim / airspeed_constrained;
_airspeed_scaling = math::constrain(airspeed_scaling, _airspeed_scaling - 0.01f, _airspeed_scaling + 0.01f);
return airspeed;
}