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AP_Airspeed: check for baro baro data in SDP3X

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this matters for SDP3X as AP_Periph sensor with no baro
This commit is contained in:
Andrew Tridgell 2021-08-06 07:50:28 +10:00
parent 30e23052a0
commit 3f67917c26
1 changed files with 13 additions and 4 deletions
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17
libraries/AP_Airspeed/AP_Airspeed_SDP3X.cpp
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@ -223,16 +223,25 @@ float AP_Airspeed_SDP3X::_correct_pressure(float press)
AP_Baro *baro = AP_Baro::get_singleton();
if (baro == nullptr) {
return press;
float baro_pressure;
if (baro == nullptr || baro->num_instances() == 0) {
// with no baro assume sea level
baro_pressure = SSL_AIR_PRESSURE;
} else {
baro_pressure = baro->get_pressure();
}
float temperature;
if (!get_temperature(temperature)) {
return press;
// assume 25C if no temperature
temperature = 25;
}
float rho_air = baro->get_pressure() / (ISA_GAS_CONSTANT * (temperature + C_TO_KELVIN));
float rho_air = baro_pressure / (ISA_GAS_CONSTANT * (temperature + C_TO_KELVIN));
if (!is_positive(rho_air)) {
// bad pressure
return press;
}
/*
the constants in the code below come from a calibrated test of