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APM: report estimated airspeed if airspeed not available

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This commit is contained in:
Andrew Tridgell 2012-08-24 22:03:40 +10:00
parent 3c7d7ba228
commit ecc6a52904
1 changed files with 7 additions and 1 deletions
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8
ArduPlane/GCS_Mavlink.pde
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@ -339,9 +339,15 @@ static void NOINLINE send_radio_out(mavlink_channel_t chan)
static void NOINLINE send_vfr_hud(mavlink_channel_t chan)
{
float aspeed;
if (airspeed.use()) {
aspeed = airspeed.get_airspeed();
} else if (!ahrs.airspeed_estimate(&aspeed)) {
aspeed = 0;
}
mavlink_msg_vfr_hud_send(
chan,
airspeed.get_airspeed(),
aspeed,
(float)g_gps->ground_speed * 0.01,
(ahrs.yaw_sensor / 100) % 360,
(uint16_t)(100 * (g.channel_throttle.norm_output() / 2.0 + 0.5)), // scale -1,1 to 0-100