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AirspeedValidator: fix course over ground computation for NED frame (#26304)

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* AirspeedValidator, fix course over ground computation for NED frame

* fix potential out of bounds call

---------

Co-authored-by: jonas <jonas.perolini@rigi.tech>
This commit is contained in:
Jonas Perolini
2026-02-26 09:18:09 +01:00
committed by GitHub
parent c6a2fce9a3
commit bea52104b7
1 changed files with 3 additions and 2 deletions
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5
src/modules/airspeed_selector/AirspeedValidator.cpp
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@@ -122,8 +122,9 @@ AirspeedValidator::update_CAS_scale_validated(bool gnss_valid, const matrix::Vec
reset_CAS_scale_check();
}
const float course_over_ground_rad = matrix::wrap_2pi(atan2f(vI(0), vI(1)));
const int segment_index = int(SCALE_CHECK_SAMPLES * course_over_ground_rad / (2.f * M_PI_F));
const float course_over_ground_rad = matrix::wrap_2pi(atan2f(vI(1), vI(0)));
const int segment_index = static_cast<int>(SCALE_CHECK_SAMPLES * course_over_ground_rad / (2.f * M_PI_F))
% SCALE_CHECK_SAMPLES;
_scale_check_groundspeed(segment_index) = vI.norm();
_scale_check_TAS(segment_index) = airspeed_true_raw;