Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 14:38:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Airspeed: constrain internal state of calibration code

Browse Source
This commit is contained in:
Andrew Tridgell 2013-08-28 22:36:05 +10:00
parent 3916a07dcf
commit 0c06dff2db
1 changed files with 4 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_Airspeed/Airspeed_Calibration.cpp
View File

@ -102,6 +102,10 @@ float Airspeed_Calibration::update(float airspeed, const Vector3f &vg)
P.b.y = max(P.b.y, 0.0f);
P.c.z = max(P.c.z, 0.0f);
state.x = constrain_float(state.x, -aparm.airspeed_max, aparm.airspeed_max);
state.y = constrain_float(state.y, -aparm.airspeed_max, aparm.airspeed_max);
state.z = constrain_float(state.z, 0.5f, 1.0f);
return state.z;
}