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AP_Soaring: use bool-returning AP_AHRS::get_wind

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Moves off the Vector3f-returning wind_estimate() method.  The wind
estimate was used unconditionally here, and continues to be; no
functional change.
This commit is contained in:
Peter Barker
2026-07-28 13:48:28 +10:00
committed by Peter Barker
parent f121748471
commit 44334c8548
1 changed files with 10 additions and 2 deletions
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libraries/AP_Soaring/AP_Soaring.cpp
+10 -2
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@@ -325,7 +325,12 @@ void SoaringController::update_thermalling()
return;
}
Vector3f wind_drift = _ahrs.wind_estimate()*deltaT*_vario.get_filtered_climb()/_ekf.X[0];
Vector3f wind;
// use the estimate even if it is not marked valid, to preserve
// existing behaviour
IGNORE_RETURN(_ahrs.get_wind(wind));
Vector3f wind_drift = wind*deltaT*_vario.get_filtered_climb()/_ekf.X[0];
// update the filter
_ekf.update(_vario.reading, current_position.x, current_position.y, wind_drift.x, wind_drift.y);
@@ -392,7 +397,10 @@ void SoaringController::update_cruising()
// Calculate the optimal airspeed for the current conditions of wind along current direction,
// expected lift in next thermal and filtered sink rate.
Vector3f wind = AP::ahrs().wind_estimate();
Vector3f wind;
// use the estimate even if it is not marked valid, to preserve
// existing behaviour
IGNORE_RETURN(AP::ahrs().get_wind(wind));
Vector3f wind_bf = AP::ahrs().earth_to_body(wind);
const float wx = wind_bf.x;