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

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This commit is contained in:
Andrew Tridgell 2015-01-20 11:27:58 +11:00
parent 850b3b89ea
commit ed0a56cc3c
3 changed files with 5 additions and 5 deletions
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2
libraries/AP_AHRS/AP_AHRS.cpp
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@ -126,7 +126,7 @@ const AP_Param::GroupInfo AP_AHRS::var_info[] PROGMEM = {
// return airspeed estimate if available // return airspeed estimate if available
bool AP_AHRS::airspeed_estimate(float *airspeed_ret) const bool AP_AHRS::airspeed_estimate(float *airspeed_ret) const
{ {
if (_airspeed && _airspeed->use()) { if (airspeed_sensor_enabled()) {
*airspeed_ret = _airspeed->get_airspeed(); *airspeed_ret = _airspeed->get_airspeed();
if (_wind_max > 0 && _gps.status() >= AP_GPS::GPS_OK_FIX_2D) { if (_wind_max > 0 && _gps.status() >= AP_GPS::GPS_OK_FIX_2D) {
// constrain the airspeed by the ground speed // constrain the airspeed by the ground speed

2
libraries/AP_AHRS/AP_AHRS.h
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@ -260,7 +260,7 @@ public:
// return true if airspeed comes from an airspeed sensor, as // return true if airspeed comes from an airspeed sensor, as
// opposed to an IMU estimate // opposed to an IMU estimate
bool airspeed_sensor_enabled(void) const { bool airspeed_sensor_enabled(void) const {
return _airspeed != NULL && _airspeed->use(); return _airspeed != NULL && _airspeed->use() && _airspeed->healthy();
} }
// return a ground vector estimate in meters/second, in North/East order // return a ground vector estimate in meters/second, in North/East order

6
libraries/AP_AHRS/AP_AHRS_DCM.cpp
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@ -559,7 +559,7 @@ AP_AHRS_DCM::drift_correction(float deltat)
return; return;
} }
float airspeed; float airspeed;
if (_airspeed && _airspeed->use()) { if (airspeed_sensor_enabled()) {
airspeed = _airspeed->get_airspeed(); airspeed = _airspeed->get_airspeed();
} else { } else {
airspeed = _last_airspeed; airspeed = _last_airspeed;
@ -850,7 +850,7 @@ void AP_AHRS_DCM::estimate_wind(void)
} }
_last_wind_time = now; _last_wind_time = now;
} else if (now - _last_wind_time > 2000 && _airspeed && _airspeed->use()) { } else if (now - _last_wind_time > 2000 && airspeed_sensor_enabled()) {
// when flying straight use airspeed to get wind estimate if available // when flying straight use airspeed to get wind estimate if available
Vector3f airspeed = _dcm_matrix.colx() * _airspeed->get_airspeed(); Vector3f airspeed = _dcm_matrix.colx() * _airspeed->get_airspeed();
Vector3f wind = velocity - (airspeed * get_EAS2TAS()); Vector3f wind = velocity - (airspeed * get_EAS2TAS());
@ -923,7 +923,7 @@ bool AP_AHRS_DCM::get_position(struct Location &loc) const
bool AP_AHRS_DCM::airspeed_estimate(float *airspeed_ret) const bool AP_AHRS_DCM::airspeed_estimate(float *airspeed_ret) const
{ {
bool ret = false; bool ret = false;
if (_airspeed && _airspeed->use()) { if (airspeed_sensor_enabled()) {
*airspeed_ret = _airspeed->get_airspeed(); *airspeed_ret = _airspeed->get_airspeed();
return true; return true;
} }