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

AP_TECS: Assume flight at cruise speed if speed measurement not available

This commit is contained in:
Paul Riseborough 2022-06-26 10:39:38 +10:00 committed by Randy Mackay
parent c6aeadd320
commit 2cc2bf2a71
1 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/AP_TECS/AP_TECS.cpp
View File

@ -391,12 +391,12 @@ void AP_TECS::_update_speed(float load_factor)
// small time constant
}
// Get airspeed or default to halfway between min and max if
// airspeed is not being used and set speed rate to zero
// Get measured airspeed or default to trim speed and constrain to range between min and max if
// airspeed sensor data cannot be used
bool use_airspeed = _use_synthetic_airspeed_once || _use_synthetic_airspeed.get() || _ahrs.airspeed_sensor_enabled();
if (!use_airspeed || !_ahrs.airspeed_estimate(_EAS)) {
// If no airspeed available use average of min and max
_EAS = 0.5f * (aparm.airspeed_min.get() + (float)aparm.airspeed_max.get());
_EAS = constrain_float(0.01f * (float)aparm.airspeed_cruise_cm.get(), (float)aparm.airspeed_min.get(), (float)aparm.airspeed_max.get());
}
// Implement a second order complementary filter to obtain a