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AP_Baro: Do not cache EAS2TAS conversions

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Caching this introduces discontinuities in TECS, as the step change
modifies the target speed demand.
This commit is contained in:
Michael du Breuil 2024-04-11 18:15:43 -07:00 committed by Andrew Tridgell
parent 30fdae880f
commit ff7a215dd0
2 changed files with 1 additions and 12 deletions
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11
libraries/AP_Baro/AP_Baro.cpp
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@ -399,9 +399,6 @@ void AP_Baro::update_calibration()
// always update the guessed ground temp
_guessed_ground_temperature = get_external_temperature();
// force EAS2TAS to recalculate
_EAS2TAS = 0;
}
// return altitude difference in meters between current pressure and a
@ -437,10 +434,6 @@ float AP_Baro::get_sealevel_pressure(float pressure) const
float AP_Baro::get_EAS2TAS(void)
{
float altitude = get_altitude();
if ((fabsf(altitude - _last_altitude_EAS2TAS) < 25.0f) && !is_zero(_EAS2TAS)) {
// not enough change to require re-calculating
return _EAS2TAS;
}
float pressure = get_pressure();
if (is_zero(pressure)) {
@ -455,9 +448,7 @@ float AP_Baro::get_EAS2TAS(void)
if (!is_positive(eas2tas_squared)) {
return 1.0f;
}
_EAS2TAS = sqrtf(eas2tas_squared);
_last_altitude_EAS2TAS = altitude;
return _EAS2TAS;
return sqrtf(eas2tas_squared);
}
// return air density / sea level density - decreases as altitude climbs

2
libraries/AP_Baro/AP_Baro.h
View File

@ -283,8 +283,6 @@ private:
uint32_t _field_elevation_last_ms;
AP_Int8 _primary_baro; // primary chosen by user
AP_Int8 _ext_bus; // bus number for external barometer
float _last_altitude_EAS2TAS;
float _EAS2TAS;
float _external_temperature;
uint32_t _last_external_temperature_ms;
DerivativeFilterFloat_Size7 _climb_rate_filter;