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https://github.com/ArduPilot/ardupilot
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Plane: use new airspeed calibration code
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
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@ -464,6 +464,7 @@ static struct {
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// Airspeed Sensors
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// Airspeed Sensors
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////////////////////////////////////////////////////////////////////////////////
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////////////////////////////////////////////////////////////////////////////////
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AP_Airspeed airspeed;
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AP_Airspeed airspeed;
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Airspeed_Calibration airspeed_calibration;
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////////////////////////////////////////////////////////////////////////////////
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////////////////////////////////////////////////////////////////////////////////
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// ACRO controller state
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// ACRO controller state
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@ -708,6 +709,7 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
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{ compass_accumulate, 1, 1500 },
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{ compass_accumulate, 1, 1500 },
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{ barometer_accumulate, 1, 900 },
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{ barometer_accumulate, 1, 900 },
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{ one_second_loop, 50, 3900 },
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{ one_second_loop, 50, 3900 },
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{ airspeed_ratio_update, 50, 1000 },
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{ update_logging, 5, 1000 },
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{ update_logging, 5, 1000 },
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{ read_receiver_rssi, 5, 1000 },
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{ read_receiver_rssi, 5, 1000 },
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{ check_long_failsafe, 15, 1000 },
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{ check_long_failsafe, 15, 1000 },
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@ -960,6 +962,20 @@ static void one_second_loop()
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}
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}
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}
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}
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/*
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once a second update the airspeed calibration ratio
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*/
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static void airspeed_ratio_update(void)
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{
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if (!airspeed.enabled() ||
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g_gps->status() < GPS::GPS_OK_FIX_3D ||
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g_gps->ground_speed_cm < 400) {
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return;
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}
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airspeed.update_calibration(g_gps->velocity_vector(), barometer.get_EAS2TAS());
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}
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/*
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/*
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read the GPS and update position
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read the GPS and update position
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*/
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*/
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