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Plane: check both ground and airspeed in autocal test 

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 ||