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AP_Motors: use AHRS for get_air_density_ratio()

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Andrew Tridgell 2024-05-04 13:44:15 +10:00 committed by Peter Barker
parent 5a439bb9b7
commit 04c3770a77
1 changed files with 2 additions and 1 deletions
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3
libraries/AP_Motors/AP_Motors_Thrust_Linearization.cpp
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@ -3,6 +3,7 @@
#include "AP_Motors_Class.h" #include "AP_Motors_Class.h"
#include <AP_BattMonitor/AP_BattMonitor.h> #include <AP_BattMonitor/AP_BattMonitor.h>
#include <AP_Baro/AP_Baro.h> #include <AP_Baro/AP_Baro.h>
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Vehicle/AP_Vehicle_Type.h> #include <AP_Vehicle/AP_Vehicle_Type.h>
#define AP_MOTORS_BATT_VOLT_FILT_HZ 0.5 // battery voltage filtered at 0.5hz #define AP_MOTORS_BATT_VOLT_FILT_HZ 0.5 // battery voltage filtered at 0.5hz
@ -193,7 +194,7 @@ float Thrust_Linearization::get_compensation_gain() const
#if AP_MOTORS_DENSITY_COMP == 1 #if AP_MOTORS_DENSITY_COMP == 1
// air density ratio is increasing in density / decreasing in altitude // air density ratio is increasing in density / decreasing in altitude
const float air_density_ratio = AP::baro().get_air_density_ratio(); const float air_density_ratio = AP::ahrs().get_air_density_ratio();
if (air_density_ratio > 0.3 && air_density_ratio < 1.5) { if (air_density_ratio > 0.3 && air_density_ratio < 1.5) {
ret *= 1.0 / constrain_float(air_density_ratio, 0.5, 1.25); ret *= 1.0 / constrain_float(air_density_ratio, 0.5, 1.25);
} }