Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-06-01 11:06:04 +08:00
Code Issues Actions 18 Packages Projects Releases Wiki Activity

Airspeed selector: fix in_air_fixed_wing condition

Browse Source 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-05-03 22:47:45 +02:00
parent 596da5b7d3
commit b7e563bdbe
1 changed files with 4 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/airspeed_selector/airspeed_selector_main.cpp
+4 -3
View File
@@ -314,7 +314,7 @@ AirspeedModule::Run()
// for fixed-wing landings. // for fixed-wing landings.
const bool in_air_fixed_wing = !_vehicle_land_detected.landed && const bool in_air_fixed_wing = !_vehicle_land_detected.landed &&
_position_setpoint.type != position_setpoint_s::SETPOINT_TYPE_LAND && _position_setpoint.type != position_setpoint_s::SETPOINT_TYPE_LAND &&
_vehicle_status.system_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING; _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
// Prepare data for airspeed_validator // Prepare data for airspeed_validator
struct airspeed_validator_update_data input_data = {}; struct airspeed_validator_update_data input_data = {};
@@ -348,8 +348,9 @@ AirspeedModule::Run()
input_data.air_temperature_celsius = airspeed_raw.air_temperature_celsius; input_data.air_temperature_celsius = airspeed_raw.air_temperature_celsius;
// takeoff situation is active from start till one of the sensors' IAS or groundspeed_CAS is above stall speed // takeoff situation is active from start till one of the sensors' IAS or groundspeed_CAS is above stall speed
if (airspeed_raw.indicated_airspeed_m_s > _param_fw_airspd_stall.get() if (_in_takeoff_situation &&
|| _ground_minus_wind_CAS > _param_fw_airspd_stall.get()) { (airspeed_raw.indicated_airspeed_m_s > _param_fw_airspd_stall.get() ||
_ground_minus_wind_CAS > _param_fw_airspd_stall.get())) {
_in_takeoff_situation = false; _in_takeoff_situation = false;
} }