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AP_AHRS_DCM: limit measured airspeed according to WIND_MAX

This commit is contained in:
Peter Barker 2020-07-27 13:54:21 +10:00 committed by Peter Barker
parent 1b481b6e6a
commit e55057ad5d
1 changed files with 10 additions and 18 deletions
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28
libraries/AP_AHRS/AP_AHRS_DCM.cpp
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@ -1048,23 +1048,19 @@ bool AP_AHRS_DCM::get_position(struct Location &loc) const
// return an airspeed estimate if available
bool AP_AHRS_DCM::airspeed_estimate(float &airspeed_ret) const
{
bool ret = false;
if (airspeed_sensor_enabled()) {
airspeed_ret = _airspeed->get_airspeed();
return true;
}
if (!_flags.wind_estimation) {
} else if (_flags.wind_estimation && have_gps()) {
// estimate it via GPS speed and wind
airspeed_ret = _last_airspeed;
} else {
// give the last estimate, but return false. This is used by
// dead-reckoning code
airspeed_ret = _last_airspeed;
return false;
}
// estimate it via GPS speed and wind
if (have_gps()) {
airspeed_ret = _last_airspeed;
ret = true;
}
if (ret && _wind_max > 0 && AP::gps().status() >= AP_GPS::GPS_OK_FIX_2D) {
if (_wind_max > 0 && AP::gps().status() >= AP_GPS::GPS_OK_FIX_2D) {
// constrain the airspeed by the ground speed
// and AHRS_WIND_MAX
const float gnd_speed = AP::gps().ground_speed();
@ -1074,12 +1070,8 @@ bool AP_AHRS_DCM::airspeed_estimate(float &airspeed_ret) const
gnd_speed + _wind_max);
airspeed_ret = true_airspeed / get_EAS2TAS();
}
if (!ret) {
// give the last estimate, but return false. This is used by
// dead-reckoning code
airspeed_ret = _last_airspeed;
}
return ret;
return true;
}
bool AP_AHRS_DCM::set_home(const Location &loc)