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fix(simulation): correct apparent wind sign and fixed-wing pitot model in SIH (#27376)

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* fix(simulation): correct apparent wind sign and fixed-wing pitot model in SIH

* fix(simulation): simplify pitot model to always use body-x airspeed

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Co-authored-by: 0xDI <0xDI@users.noreply.github.com>
This commit is contained in:
Dimitris
2026-05-19 09:48:36 +03:00
committed by GitHub
parent 9ca5cf388f
commit d0439ebef8
1 changed files with 3 additions and 3 deletions
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src/modules/simulation/simulator_sih/sih.cpp
+3 -3
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@@ -625,7 +625,7 @@ void Sih::ecefToNed()
// Transform velocity to NED frame
_v_N = C_SE * _v_E;
_v_apparent_N = _v_N + _v_wind_N;
_v_apparent_N = _v_N - _v_wind_N;
_q = Quatf(C_SE) * _q_E;
_q.normalize();
@@ -669,8 +669,8 @@ void Sih::send_airspeed(const hrt_abstime &time_now_us)
airspeed_s airspeed{};
airspeed.timestamp_sample = time_now_us;
// Assume the pitot tube always points against the wind to not have tailsitter edge cases
airspeed.true_airspeed_m_s = fmaxf(0.1f, _v_apparent_N.norm() + generate_wgn() * 0.2f);
// pitot tube measures forward (body-x) airspeed
airspeed.true_airspeed_m_s = fmaxf(0.1f, _v_B(0) + generate_wgn() * 0.2f);
airspeed.indicated_airspeed_m_s = airspeed.true_airspeed_m_s * sqrtf(_wing_l.get_rho() / RHO);
airspeed.confidence = 0.7f;
airspeed.timestamp = hrt_absolute_time();