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

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Paul Riseborough 2022-06-26 10:39:38 +10:00 committed by Randy Mackay
parent fa06e3e612
commit 3d2fbf9438
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_TECS/AP_TECS.cpp
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@ -391,12 +391,12 @@ void AP_TECS::_update_speed(float load_factor)
// small time constant // small time constant
} }
// Get airspeed or default to halfway between min and max if // Get measured airspeed or default to trim speed and constrain to range between min and max if
// airspeed is not being used and set speed rate to zero // airspeed sensor data cannot be used
bool use_airspeed = _use_synthetic_airspeed_once || _use_synthetic_airspeed.get() || _ahrs.airspeed_sensor_enabled(); bool use_airspeed = _use_synthetic_airspeed_once || _use_synthetic_airspeed.get() || _ahrs.airspeed_sensor_enabled();
if (!use_airspeed || !_ahrs.airspeed_estimate(_EAS)) { if (!use_airspeed || !_ahrs.airspeed_estimate(_EAS)) {
// If no airspeed available use average of min and max // 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 // Implement a second order complementary filter to obtain a