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AP_AHRS: fixed synthetic airspeed to be along +ve X axis 

this prevents us from thinking we have +ve airspeed when flying
backwards with no pitot tube
This commit is contained in:
Andrew Tridgell 2018-09-14 10:49:00 +10:00
parent 102ee99802
commit 042265b4c4
1 changed files with 8 additions and 2 deletions
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10
libraries/AP_AHRS/AP_AHRS_DCM.cpp
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@ -668,8 +668,14 @@ AP_AHRS_DCM::drift_correction(float deltat)
// keep last airspeed estimate for dead-reckoning purposes // keep last airspeed estimate for dead-reckoning purposes
Vector3f airspeed = velocity - _wind; Vector3f airspeed = velocity - _wind;
airspeed.z = 0;
_last_airspeed = airspeed.length(); // rotate vector to body frame
const Matrix3f &rot = get_rotation_body_to_ned();
airspeed = rot.mul_transpose(airspeed);
// take positive component in X direction. This mimics a pitot
// tube
_last_airspeed = MAX(airspeed.x, 0);
} }
if (have_gps()) { if (have_gps()) {