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AP_Frsky_Telem: use airspeed value w/o constraints of ground speed and AHRS_WIND_MAX

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floaledm 2016-10-26 14:22:40 -05:00 committed by Lucas De Marchi
parent 217da05c64
commit 7045013933
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp
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@ -735,10 +735,10 @@ uint32_t AP_Frsky_Telem::calc_velandyaw(void)
_ahrs.get_velocity_NED(velNED); _ahrs.get_velocity_NED(velNED);
// vertical velocity in dm/s // vertical velocity in dm/s
velandyaw = prep_number(roundf(velNED.z * 10), 2, 1); velandyaw = prep_number(roundf(velNED.z * 10), 2, 1);
// horizontal velocity in dm/s (use airspeed if available, otherwise use groundspeed) // horizontal velocity in dm/s (use airspeed if available and enabled - even if not used - otherwise use groundspeed)
float aspeed; const AP_Airspeed *aspeed = _ahrs.get_airspeed();
if (_ahrs.airspeed_estimate(&aspeed)) { // send airspeed estimate from ahrs if available if (aspeed && aspeed->enabled()) {
velandyaw |= prep_number(roundf(aspeed * 10), 2, 1)<<VELANDYAW_XYVEL_OFFSET; velandyaw |= prep_number(roundf(aspeed->get_airspeed() * 10), 2, 1)<<VELANDYAW_XYVEL_OFFSET;
} else { // otherwise send groundspeed estimate from ahrs } else { // otherwise send groundspeed estimate from ahrs
velandyaw |= prep_number(roundf(_ahrs.groundspeed() * 10), 2, 1)<<VELANDYAW_XYVEL_OFFSET; velandyaw |= prep_number(roundf(_ahrs.groundspeed() * 10), 2, 1)<<VELANDYAW_XYVEL_OFFSET;
} }