Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-21 23:33:57 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_AHRS: removed duplicate implementation of airspeed_estimate()

Browse Source
This commit is contained in:
Andrew Tridgell 2020-08-27 16:06:38 +10:00
parent b5b3298f0a
commit a4e7c72635
2 changed files with 2 additions and 25 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

25
libraries/AP_AHRS/AP_AHRS_DCM.cpp
View File

@ -1048,30 +1048,7 @@ bool AP_AHRS_DCM::get_position(struct Location &loc) const
// return an airspeed estimate if available
bool AP_AHRS_DCM::airspeed_estimate(float &airspeed_ret) const
{
if (airspeed_sensor_enabled()) {
airspeed_ret = _airspeed->get_airspeed();
} else if (_flags.wind_estimation && have_gps()) {
// estimate it via GPS speed and wind
airspeed_ret = _last_airspeed;
} else {
// give the last estimate, but return false. This is used by
// dead-reckoning code
airspeed_ret = _last_airspeed;
return false;
}
if (_wind_max > 0 && AP::gps().status() >= AP_GPS::GPS_OK_FIX_2D) {
// constrain the airspeed by the ground speed
// and AHRS_WIND_MAX
const float gnd_speed = AP::gps().ground_speed();
float true_airspeed = airspeed_ret * get_EAS2TAS();
true_airspeed = constrain_float(true_airspeed,
gnd_speed - _wind_max,
gnd_speed + _wind_max);
airspeed_ret = true_airspeed / get_EAS2TAS();
}
return true;
return airspeed_estimate(_airspeed?_airspeed->get_primary():0, airspeed_ret);
}
// return an airspeed estimate from a specific airspeed sensor instance if available

2
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
View File

@ -543,7 +543,7 @@ Vector3f AP_AHRS_NavEKF::wind_estimate(void) const
// return an airspeed estimate if available. return true
// if we have an estimate
bool AP_AHRS_NavEKF::airspeed_estimate(float &airspeed_ret) const
{
{
return AP_AHRS_DCM::airspeed_estimate(get_active_airspeed_index(), airspeed_ret);
}