Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

TECS: move to new using_airspeed_sensor ahrs method

Browse Source
This commit is contained in:
Iampete1 2023-10-24 02:41:42 +01:00 committed by Andrew Tridgell
parent a6206bde3c
commit 97101b6bd0
1 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/AP_TECS/AP_TECS.cpp
View File

@ -390,7 +390,7 @@ void AP_TECS::_update_speed(float DT)
_vel_dot_lpf = _vel_dot_lpf * (1.0f - alpha) + _vel_dot * alpha;
}
bool use_airspeed = _use_synthetic_airspeed_once || _use_synthetic_airspeed.get() || _ahrs.airspeed_sensor_enabled();
bool use_airspeed = _use_synthetic_airspeed_once || _use_synthetic_airspeed.get() || _ahrs.using_airspeed_sensor();
// Convert equivalent airspeeds to true airspeeds and harmonise limits
@ -923,7 +923,7 @@ void AP_TECS::_update_pitch(void)
// A SKE_weighting of 2 provides 100% priority to speed control. This is used when an underspeed condition is detected. In this instance, if airspeed
// rises above the demanded value, the pitch angle will be increased by the TECS controller.
_SKE_weighting = constrain_float(_spdWeight, 0.0f, 2.0f);
if (!(_ahrs.airspeed_sensor_enabled() || _use_synthetic_airspeed)) {
if (!(_ahrs.using_airspeed_sensor() || _use_synthetic_airspeed)) {
_SKE_weighting = 0.0f;
} else if (_flight_stage == AP_FixedWing::FlightStage::VTOL) {
// if we are in VTOL mode then control pitch without regard to
@ -1346,7 +1346,7 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm,
// Note that caller can demand the use of
// synthetic airspeed for one loop if needed. This is required
// during QuadPlane transition when pitch is constrained
if (_ahrs.airspeed_sensor_enabled() || _use_synthetic_airspeed || _use_synthetic_airspeed_once) {
if (_ahrs.using_airspeed_sensor() || _use_synthetic_airspeed || _use_synthetic_airspeed_once) {
_update_throttle_with_airspeed();
_use_synthetic_airspeed_once = false;
_using_airspeed_for_throttle = true;