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SITL: improve airspeed in FlightAxis for RF8 

use 3D wind to get airspeed along X axis of aircraft
This commit is contained in:
Andrew Tridgell 2019-04-15 06:36:07 +10:00
parent cc679db55b
commit ac7e969aae
1 changed files with 20 additions and 1 deletions
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21
libraries/SITL/SIM_FlightAxis.cpp
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@ -450,7 +450,26 @@ void FlightAxis::update(const struct sitl_input &input)
position -= position_offset;
airspeed = state.m_airspeed_MPS;
airspeed_pitot = state.m_airspeed_MPS;
/* for pitot airspeed we need the airspeed along the X axis. We
can't get that from m_airspeed_MPS, so instead we canculate it
from wind vector and ground speed
*/
Vector3f m_wind_ef(-state.m_windY_MPS,-state.m_windX_MPS,-state.m_windZ_MPS);
Vector3f airspeed_3d_ef = m_wind_ef + velocity_ef;
Vector3f airspeed3d = dcm.mul_transpose(airspeed_3d_ef);
airspeed_pitot = MAX(airspeed3d.x,0);
#if 0
printf("WIND: %.1f %.1f %.1f AS3D %.1f %.1f %.1f\n",
state.m_windX_MPS,
state.m_windY_MPS,
state.m_windZ_MPS,
airspeed3d.x,
airspeed3d.y,
airspeed3d.z);
#endif
battery_voltage = state.m_batteryVoltage_VOLTS;
battery_current = state.m_batteryCurrentDraw_AMPS;