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

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
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3
ArduPlane/ArduPlane.pde
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@ -969,7 +969,8 @@ static void airspeed_ratio_update(void)
{ {
if (!airspeed.enabled() || if (!airspeed.enabled() ||
g_gps->status() < GPS::GPS_OK_FIX_3D || 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; return;
} }
airspeed.update_calibration(g_gps->velocity_vector()); airspeed.update_calibration(g_gps->velocity_vector());