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Plane: ensure smoothed airspeed is > 0 

prevent possible divide by zero
This commit is contained in:
Andrew Tridgell 2022-12-05 07:53:13 +11:00
parent 49d0a4906a
commit 6db842e967
1 changed files with 2 additions and 2 deletions
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4
ArduPlane/navigation.cpp
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@ -143,9 +143,9 @@ void Plane::calc_airspeed_errors()
// Get the airspeed_estimate, update smoothed airspeed estimate // Get the airspeed_estimate, update smoothed airspeed estimate
// NOTE: we use the airspeed estimate function not direct sensor // NOTE: we use the airspeed estimate function not direct sensor
// as TECS may be using synthetic airspeed // as TECS may be using synthetic airspeed
float airspeed_measured = 0; float airspeed_measured = 0.1;
if (ahrs.airspeed_estimate(airspeed_measured)) { if (ahrs.airspeed_estimate(airspeed_measured)) {
smoothed_airspeed = smoothed_airspeed * 0.8f + airspeed_measured * 0.2f; smoothed_airspeed = MAX(0.1, smoothed_airspeed * 0.8f + airspeed_measured * 0.2f);
} }
// low pass filter speed scaler, with 1Hz cutoff, at 10Hz // low pass filter speed scaler, with 1Hz cutoff, at 10Hz