Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-23 00:04:02 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Airspeed: remove airspeed filter and run at 10Hz

Browse Source 
this saves on the filter memory, and gives just as good a result
This commit is contained in:
Andrew Tridgell 2012-08-15 12:34:08 +10:00
parent a361a3aebd
commit f4023d1b44
3 changed files with 9 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
ArduPlane/ArduPlane.pde
View File

@ -761,14 +761,6 @@ static void fast_loop()
// ------------------------------------ // ------------------------------------
check_short_failsafe(); check_short_failsafe();
// Read Airspeed
// -------------
if (airspeed.enabled()) {
#if HIL_MODE != HIL_MODE_ATTITUDE
read_airspeed();
#endif
}
#if HIL_MODE == HIL_MODE_SENSORS #if HIL_MODE == HIL_MODE_SENSORS
// update hil before AHRS update // update hil before AHRS update
gcs_update(); gcs_update();
@ -878,6 +870,14 @@ Serial.println(tempaccel.z, DEC);
case 2: case 2:
medium_loopCounter++; medium_loopCounter++;
// Read Airspeed
// -------------
#if HIL_MODE != HIL_MODE_ATTITUDE
if (airspeed.enabled()) {
read_airspeed();
}
#endif
// Read altitude from sensors // Read altitude from sensors
// ------------------ // ------------------
update_alt(); update_alt();

2
libraries/AP_Airspeed/AP_Airspeed.cpp
View File

@ -69,7 +69,7 @@ void AP_Airspeed::read(void)
if (!_enable) { if (!_enable) {
return; return;
} }
_airspeed_raw = _filter.apply(_source->read()); _airspeed_raw = _source->read();
airspeed_pressure = max((_airspeed_raw - _offset), 0); airspeed_pressure = max((_airspeed_raw - _offset), 0);
_airspeed = sqrt(airspeed_pressure * _ratio); _airspeed = sqrt(airspeed_pressure * _ratio);
} }

1
libraries/AP_Airspeed/AP_Airspeed.h
View File

@ -50,7 +50,6 @@ private:
AP_Int8 _enable; AP_Int8 _enable;
float _airspeed; float _airspeed;
float _airspeed_raw; float _airspeed_raw;
AverageFilterFloat_Size5 _filter;
}; };