Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_DAL: prevent logical loop between AHRS and EKF 

this prevents the EKF using its own rejecting_airspeed flag
This commit is contained in:
Andrew Tridgell 2022-01-26 17:36:46 +11:00
parent 01ac314837
commit aab0c31385
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_DAL/AP_DAL.cpp
View File

@ -63,7 +63,7 @@ void AP_DAL::start_frame(AP_DAL::FrameType frametype)
_RFRN.fly_forward = ahrs.get_fly_forward();
_RFRN.takeoff_expected = ahrs.get_takeoff_expected();
_RFRN.touchdown_expected = ahrs.get_touchdown_expected();
_RFRN.ahrs_airspeed_sensor_enabled = AP::ahrs().airspeed_sensor_enabled();
_RFRN.ahrs_airspeed_sensor_enabled = ahrs.airspeed_sensor_enabled(ahrs.get_active_airspeed_index());
_RFRN.available_memory = hal.util->available_memory();
_RFRN.ahrs_trim = ahrs.get_trim();
#if AP_OPTICALFLOW_ENABLED