Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Revert "AP_TECS: Convert references to AP_Airspeed." 

This reverts commit 09d53eaeca.
This commit is contained in:
Tom Pittenger 2016-08-07 17:48:18 -07:00
parent 44037c13a1
commit e5bd23e34a
2 changed files with 3 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/AP_TECS/AP_TECS.cpp
View File

@ -340,8 +340,8 @@ void AP_TECS::_update_speed(float load_factor)
float EAS2TAS = _ahrs.get_EAS2TAS();
_TAS_dem = _EAS_dem * EAS2TAS;
_TASmax = airspeed.get_airspeed_max() * EAS2TAS;
_TASmin = airspeed.get_airspeed_min() * EAS2TAS;
_TASmax = aparm.airspeed_max * EAS2TAS;
_TASmin = aparm.airspeed_min * EAS2TAS;
if (aparm.stall_prevention) {
// when stall prevention is active we raise the mimimum
@ -368,7 +368,7 @@ void AP_TECS::_update_speed(float load_factor)
// airspeed is not being used and set speed rate to zero
if (!_ahrs.airspeed_sensor_enabled() || !_ahrs.airspeed_estimate(&_EAS)) {
// If no airspeed available use average of min and max
_EAS = 0.5f * (airspeed.get_airspeed_min() + airspeed.get_airspeed_max());
_EAS = 0.5f * (aparm.airspeed_min.get() + (float)aparm.airspeed_max.get());
}
// Implement a second order complementary filter to obtain a

1
libraries/AP_TECS/AP_TECS.h
View File

@ -121,7 +121,6 @@ private:
AP_AHRS &_ahrs;
const AP_Vehicle::FixedWing &aparm;
AP_Airspeed airspeed;
// TECS tuning parameters
AP_Float _hgtCompFiltOmega;