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AP_Airspeed : Fixes bug that caused airspeed calibration to be sent a zero airspeed

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This bug resulted in the airspeed ratio going to the maximum value of 4 and staying there. This could lead to a very slow flying model and a stall.
This commit is contained in:
Paul Riseborough 2013-11-02 20:25:44 +11:00 committed by Andrew Tridgell
parent 5a92ce4af6
commit 71de4ddcd0
2 changed files with 2 additions and 1 deletions
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1
libraries/AP_Airspeed/AP_Airspeed.cpp
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@ -170,6 +170,7 @@ void AP_Airspeed::read(void)
} }
airspeed_pressure = get_pressure(); airspeed_pressure = get_pressure();
airspeed_pressure = max(airspeed_pressure - _offset, 0); airspeed_pressure = max(airspeed_pressure - _offset, 0);
_last_pressure = airspeed_pressure;
_raw_airspeed = sqrtf(airspeed_pressure * _ratio); _raw_airspeed = sqrtf(airspeed_pressure * _ratio);
_airspeed = 0.7f * _airspeed + 0.3f * _raw_airspeed; _airspeed = 0.7f * _airspeed + 0.3f * _raw_airspeed;
} }

2
libraries/AP_Airspeed/AP_Airspeed.h
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@ -106,7 +106,7 @@ public:
// return the differential pressure in Pascal for the last // return the differential pressure in Pascal for the last
// airspeed reading. Used by the calibration code // airspeed reading. Used by the calibration code
float get_differential_pressure(void) const { float get_differential_pressure(void) const {
return max(_last_pressure - _offset, 0); return max(_last_pressure, 0);
} }
// set the apparent to true airspeed ratio // set the apparent to true airspeed ratio