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AP_Airspeed: fixed airspeed cal on 2nd airspeed sensor

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we need to use the pressure from the sensor we are calibrating
This commit is contained in:
Andrew Tridgell 2022-05-16 15:25:21 +10:00
parent 68a43b3c79
commit 72b5212baf
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_Airspeed/Airspeed_Calibration.cpp
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@ -128,7 +128,7 @@ void AP_Airspeed::update_calibration(uint8_t i, const Vector3f &vground, int16_t
state[i].calibration.state.z = 1.0f / sqrtf(ratio); state[i].calibration.state.z = 1.0f / sqrtf(ratio);
// calculate true airspeed, assuming a airspeed ratio of 1.0 // calculate true airspeed, assuming a airspeed ratio of 1.0
float dpress = MAX(get_differential_pressure(), 0); float dpress = MAX(get_differential_pressure(i), 0);
float true_airspeed = sqrtf(dpress) * AP::baro().get_EAS2TAS(); float true_airspeed = sqrtf(dpress) * AP::baro().get_EAS2TAS();
float zratio = state[i].calibration.update(true_airspeed, vground, max_airspeed_allowed_during_cal); float zratio = state[i].calibration.update(true_airspeed, vground, max_airspeed_allowed_during_cal);