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Plane: use ahrs.groundspeed() instead of gps call 

this fixes a zero of integrator when dead-reckoning after GPS has died
This commit is contained in:
Andrew Tridgell 2021-02-21 07:56:29 +11:00
parent 1afa0a7ff2
commit c913d8134d
1 changed files with 2 additions and 2 deletions
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4
ArduPlane/Attitude.cpp
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@ -431,7 +431,7 @@ void Plane::stabilize()
if (get_throttle_input() == 0 &&
fabsf(relative_altitude) < 5.0f &&
fabsf(barometer.get_climb_rate()) < 0.5f &&
gps.ground_speed() < 3) {
ahrs.groundspeed() < 3) {
// we are low, with no climb rate, and zero throttle, and very
// low ground speed. Zero the attitude controller
// integrators. This prevents integrator buildup pre-takeoff.
@ -440,7 +440,7 @@ void Plane::stabilize()
yawController.reset_I();
// if moving very slowly also zero the steering integrator
if (gps.ground_speed() < 1) {
if (ahrs.groundspeed() < 1) {
steerController.reset_I();
}
}