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Plane: move to new `using_airspeed_sensor` ahrs method

This commit is contained in:
Iampete1 2023-10-24 02:41:37 +01:00 committed by Andrew Tridgell
parent 19b263a220
commit a6206bde3c
5 changed files with 6 additions and 6 deletions
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2
ArduPlane/Attitude.cpp
View File

@ -49,7 +49,7 @@ float Plane::calc_speed_scaler(void)
// no speed estimate and not armed, use a unit scaling
speed_scaler = 1;
}
if (!plane.ahrs.airspeed_sensor_enabled() &&
if (!plane.ahrs.using_airspeed_sensor() &&
(plane.flight_option_enabled(FlightOptions::SURPRESS_TKOFF_SCALING)) &&
(plane.flight_stage == AP_FixedWing::FlightStage::TAKEOFF)) { //scaling is suppressed during climb phase of automatic takeoffs with no airspeed sensor being used due to problems with inaccurate airspeed estimates
return MIN(speed_scaler, 1.0f) ;

2
ArduPlane/quadplane.cpp
View File

@ -1475,7 +1475,7 @@ bool QuadPlane::should_assist(float aspeed, bool have_airspeed)
// assistance due to Q_ASSIST_SPEED
// if option bit is enabled only allow assist with real airspeed sensor
if ((have_airspeed && aspeed < assist_speed) &&
(!option_is_set(QuadPlane::OPTION::DISABLE_SYNTHETIC_AIRSPEED_ASSIST) || ahrs.airspeed_sensor_enabled())) {
(!option_is_set(QuadPlane::OPTION::DISABLE_SYNTHETIC_AIRSPEED_ASSIST) || ahrs.using_airspeed_sensor())) {
in_angle_assist = false;
angle_error_start_ms = 0;
return true;

2
ArduPlane/radio.cpp
View File

@ -196,7 +196,7 @@ void Plane::read_radio()
&& channel_throttle->get_control_in() > 50
&& stickmixing) {
float nudge = (channel_throttle->get_control_in() - 50) * 0.02f;
if (ahrs.airspeed_sensor_enabled()) {
if (ahrs.using_airspeed_sensor()) {
airspeed_nudge_cm = (aparm.airspeed_max * 100 - aparm.airspeed_cruise_cm) * nudge;
} else {
throttle_nudge = (aparm.throttle_max - aparm.throttle_cruise) * nudge;

4
ArduPlane/servos.cpp
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@ -134,7 +134,7 @@ bool Plane::suppress_throttle(void)
// require 5m/s. This prevents throttle up due to spiky GPS
// groundspeed with bad GPS reception
#if AP_AIRSPEED_ENABLED
if ((!ahrs.airspeed_sensor_enabled()) || airspeed.get_airspeed() >= 5) {
if ((!ahrs.using_airspeed_sensor()) || airspeed.get_airspeed() >= 5) {
// we're moving at more than 5 m/s
throttle_suppressed = false;
return false;
@ -605,7 +605,7 @@ void Plane::set_servos_flaps(void)
if (control_mode->does_auto_throttle()) {
int16_t flapSpeedSource = 0;
if (ahrs.airspeed_sensor_enabled()) {
if (ahrs.using_airspeed_sensor()) {
flapSpeedSource = target_airspeed_cm * 0.01f;
} else {
flapSpeedSource = aparm.throttle_cruise;

2
ArduPlane/takeoff.cpp
View File

@ -185,7 +185,7 @@ void Plane::takeoff_calc_pitch(void)
return;
}
if (ahrs.airspeed_sensor_enabled()) {
if (ahrs.using_airspeed_sensor()) {
int16_t takeoff_pitch_min_cd = get_takeoff_pitch_min_cd();
calc_nav_pitch();
if (nav_pitch_cd < takeoff_pitch_min_cd) {