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Plane: check both ground and airspeed in autocal test

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when the airspeed ratio is far too low we were not raising it as the
airspeed was never getting above the minimum airspeed

Pair-Programmed-With: Jon Challinger
This commit is contained in:
Andrew Tridgell 2014-01-17 10:29:28 +11:00
parent 87cc95dd7f
commit ada0dd5504
1 changed files with 9 additions and 2 deletions
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11
ArduPlane/ArduPlane.pde
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@ -1014,9 +1014,16 @@ static void airspeed_ratio_update(void)
{
if (!airspeed.enabled() ||
g_gps->status() < GPS::GPS_OK_FIX_3D ||
g_gps->ground_speed_cm < 400 ||
airspeed.get_airspeed() < aparm.airspeed_min) {
g_gps->ground_speed_cm < 400) {
// don't calibrate when not moving
return;
}
if (airspeed.get_airspeed() < aparm.airspeed_min &&
g_gps->ground_speed_cm < (uint32_t)aparm.airspeed_min*100) {
// don't calibrate when flying below the minimum airspeed. We
// check both airspeed and ground speed to catch cases where
// the airspeed ratio is way too low, which could lead to it
// never coming up again
return;
}
if (abs(ahrs.roll_sensor) > roll_limit_cd ||