Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_Airspeed: fixed airspeed autocal 

don't use negative pressures
This commit is contained in:
Andrew Tridgell 2017-09-22 18:24:29 +10:00
parent dedb40ce0b
commit 2c68b5dac3
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_Airspeed/Airspeed_Calibration.cpp
View File

@ -125,7 +125,7 @@ void AP_Airspeed::update_calibration(const Vector3f &vground, int16_t max_airspe
_calibration.state.z = 1.0f / sqrtf(ratio); _calibration.state.z = 1.0f / sqrtf(ratio);
// calculate true airspeed, assuming a airspeed ratio of 1.0 // calculate true airspeed, assuming a airspeed ratio of 1.0
float dpress = get_differential_pressure(); float dpress = MAX(get_differential_pressure(), 0);
float true_airspeed = sqrtf(dpress) * _EAS2TAS; float true_airspeed = sqrtf(dpress) * _EAS2TAS;
float zratio = _calibration.update(true_airspeed, vground, max_airspeed_allowed_during_cal); float zratio = _calibration.update(true_airspeed, vground, max_airspeed_allowed_during_cal);