Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-10 09:58:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

Plane: prevent GPS speed spikes at startup from breaking airspeed cal

Browse Source 
the filter can be affected by a huge GPS velocity spike
This commit is contained in:
Andrew Tridgell 2013-08-17 07:01:01 +10:00
parent fe56ac3839
commit 8dd0aa12ed
1 changed files with 2 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
ArduPlane/ArduPlane.pde
View File

@ -969,7 +969,8 @@ static void airspeed_ratio_update(void)
{
if (!airspeed.enabled() ||
g_gps->status() < GPS::GPS_OK_FIX_3D ||
g_gps->ground_speed_cm < 400) {
g_gps->ground_speed_cm < 400 ||
airspeed.get_airspeed() < aparm.airspeed_min) {
return;
}
airspeed.update_calibration(g_gps->velocity_vector());