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Blimp: use bool-returning AP_AHRS::get_wind

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Moves off the Vector3f-returning wind_estimate() method.  Blimp uses
the success of airspeed_vector_TAS() to decide whether it has a usable
wind estimate; that is left alone here, so no functional change.
This commit is contained in:
Peter Barker
2026-07-28 13:48:28 +10:00
committed by Peter Barker
parent 07ac38b8c6
commit f1f46ebb56
1 changed files with 12 additions and 3 deletions
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Blimp/GCS_MAVLink_Blimp.cpp
+12 -3
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@@ -326,7 +326,10 @@ void GCS_MAVLINK_Blimp::send_wind() const
// valid wind estimate on blimps
return;
}
const Vector3f wind = AP::ahrs().wind_estimate();
Vector3f wind;
// send the estimate even if it is not marked valid, to preserve
// existing behaviour
IGNORE_RETURN(AP::ahrs().get_wind(wind));
mavlink_msg_wind_send(
chan,
degrees(atan2f(-wind.y, -wind.x)),
@@ -344,7 +347,10 @@ uint8_t GCS_MAVLINK_Blimp::high_latency_wind_speed() const
return 0;
}
// return units are m/s*5
const 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));
return wind.xy().length() * 5;
}
@@ -356,7 +362,10 @@ uint8_t GCS_MAVLINK_Blimp::high_latency_wind_direction() const
// valid wind estimate on blimps
return 0;
}
const 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));
// need to convert -180->180 to 0->360/2
return wrap_360(degrees(atan2f(-wind.y, -wind.x))) / 2;
}