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APM: use airspeed estimate for speed scaling if available

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This commit is contained in:
Andrew Tridgell 2012-08-24 22:03:03 +10:00
parent c9cf483822
commit 3c7d7ba228
1 changed files with 4 additions and 3 deletions
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7
ArduPlane/Attitude.pde
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@ -10,9 +10,9 @@ static void stabilize()
float ch2_inf = 1.0; float ch2_inf = 1.0;
float ch4_inf = 1.0; float ch4_inf = 1.0;
float speed_scaler; float speed_scaler;
float aspeed;
if (airspeed.use()) { if (ahrs.airspeed_estimate(&aspeed)) {
float aspeed = airspeed.get_airspeed();
if (aspeed > 0) { if (aspeed > 0) {
speed_scaler = g.scaling_speed / aspeed; speed_scaler = g.scaling_speed / aspeed;
} else { } else {
@ -26,7 +26,8 @@ static void stabilize()
}else{ }else{
speed_scaler = 1.67; speed_scaler = 1.67;
} }
speed_scaler = constrain(speed_scaler, 0.6, 1.67); // This case is constrained tighter as we don't have real speed info // This case is constrained tighter as we don't have real speed info
speed_scaler = constrain(speed_scaler, 0.6, 1.67);
} }
if(crash_timer > 0) { if(crash_timer > 0) {