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AP_NavEKF: cope with the changed semantics of airspeed.use()

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This commit is contained in:
Andrew Tridgell 2015-01-20 11:28:14 +11:00
parent ed0a56cc3c
commit e8017a5079
1 changed files with 6 additions and 7 deletions
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13
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -3690,14 +3690,16 @@ void NavEKF::SetFlightAndFusionModes()
// if we are a fly forward type vehicle, then in-air mode can be determined through a combination of speed and height criteria // if we are a fly forward type vehicle, then in-air mode can be determined through a combination of speed and height criteria
if (assume_zero_sideslip()) { if (assume_zero_sideslip()) {
// Evaluate a numerical score that defines the likelihood we are in the air // Evaluate a numerical score that defines the likelihood we are in the air
const AP_Airspeed *airspeed = _ahrs->get_airspeed();
float gndSpdSq = sq(velNED[0]) + sq(velNED[1]); float gndSpdSq = sq(velNED[0]) + sq(velNED[1]);
uint8_t inAirSum = 0; uint8_t inAirSum = 0;
bool highGndSpdStage2 = false; bool highGndSpdStage2 = false;
// trigger at 8 m/s airspeed // trigger at 8 m/s airspeed
if (airspeed && airspeed->use() && airspeed->get_airspeed() * airspeed->get_EAS2TAS() > 8.0f) { if (_ahrs->airspeed_sensor_enabled()) {
inAirSum++; const AP_Airspeed *airspeed = _ahrs->get_airspeed();
if (airspeed->get_airspeed() * airspeed->get_EAS2TAS() > 8.0f) {
inAirSum++;
}
} }
// this will trigger during change in baro height // this will trigger during change in baro height
@ -4389,10 +4391,7 @@ void NavEKF::InitialiseVariables()
// return true if we should use the airspeed sensor // return true if we should use the airspeed sensor
bool NavEKF::useAirspeed(void) const bool NavEKF::useAirspeed(void) const
{ {
if (_ahrs->get_airspeed() == NULL) { return _ahrs->airspeed_sensor_enabled();
return false;
}
return _ahrs->get_airspeed()->use();
} }
// return true if we should use the range finder sensor // return true if we should use the range finder sensor