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AP_AirSpeed: take EAS2TAS directory from baro; use for all backends 

Plane was only setting EAS2TAS in the primary frontend; calibration
expected it to be set on each instance.
This commit is contained in:
Peter Barker 2019-06-01 15:07:03 +10:00 committed by Andrew Tridgell
parent 470e88f8b3
commit 5cfba85095
3 changed files with 2 additions and 18 deletions
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3
libraries/AP_Airspeed/AP_Airspeed.cpp
View File

@ -219,9 +219,6 @@ const AP_Param::GroupInfo AP_Airspeed::var_info[] = {
AP_Airspeed::AP_Airspeed()
{
for (uint8_t i=0; i<AIRSPEED_MAX_SENSORS; i++) {
state[i].EAS2TAS = 1;
}
AP_Param::setup_object_defaults(this, var_info);
if (_singleton != nullptr) {

13
libraries/AP_Airspeed/AP_Airspeed.h
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@ -101,18 +101,6 @@ public:
}
float get_differential_pressure(void) const { return get_differential_pressure(primary); }
// set the apparent to true airspeed ratio
void set_EAS2TAS(uint8_t i, float v) {
state[i].EAS2TAS = v;
}
void set_EAS2TAS(float v) { set_EAS2TAS(primary, v); }
// get the apparent to true airspeed ratio
float get_EAS2TAS(uint8_t i) const {
return state[i].EAS2TAS;
}
float get_EAS2TAS(void) const { return get_EAS2TAS(primary); }
// update airspeed ratio calibration
void update_calibration(const Vector3f &vground, int16_t max_airspeed_allowed_during_cal);
@ -186,7 +174,6 @@ private:
float last_pressure;
float filtered_pressure;
float corrected_pressure;
float EAS2TAS;
bool healthy:1;
bool hil_set:1;
float hil_pressure;

4
libraries/AP_Airspeed/Airspeed_Calibration.cpp
View File

@ -127,7 +127,7 @@ void AP_Airspeed::update_calibration(uint8_t i, const Vector3f &vground, int16_t
// calculate true airspeed, assuming a airspeed ratio of 1.0
float dpress = MAX(get_differential_pressure(), 0);
float true_airspeed = sqrtf(dpress) * state[i].EAS2TAS;
float true_airspeed = sqrtf(dpress) * AP::baro().get_EAS2TAS();
float zratio = state[i].calibration.update(true_airspeed, vground, max_airspeed_allowed_during_cal);
@ -178,7 +178,7 @@ void AP_Airspeed::send_airspeed_calibration(const Vector3f &vground)
vground.y,
vground.z,
get_differential_pressure(primary),
state[primary].EAS2TAS,
AP::baro().get_EAS2TAS(),
param[primary].ratio.get(),
state[primary].calibration.state.x,
state[primary].calibration.state.y,