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Plane: constrain calibration to roll/pitch limits

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This commit is contained in:
Andrew Tridgell 2013-08-28 22:36:37 +10:00
parent 0c06dff2db
commit 5cec9b65c9
1 changed files with 11 additions and 3 deletions
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14
ArduPlane/ArduPlane.pde
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@ -476,8 +476,7 @@ static struct {
////////////////////////////////////////////////////////////////////////////////
// Airspeed Sensors
////////////////////////////////////////////////////////////////////////////////
AP_Airspeed airspeed;
Airspeed_Calibration airspeed_calibration;
AP_Airspeed airspeed(aparm);
////////////////////////////////////////////////////////////////////////////////
// ACRO controller state
@ -971,9 +970,18 @@ static void airspeed_ratio_update(void)
g_gps->status() < GPS::GPS_OK_FIX_3D ||
g_gps->ground_speed_cm < 400 ||
airspeed.get_airspeed() < aparm.airspeed_min) {
// don't calibrate when not moving
return;
}
airspeed.update_calibration(g_gps->velocity_vector());
if (abs(ahrs.roll_sensor) > g.roll_limit_cd ||
ahrs.pitch_sensor > aparm.pitch_limit_max_cd ||
ahrs.pitch_sensor < aparm.pitch_limit_min_cd) {
// don't calibrate when going beyond normal flight envelope
return;
}
Vector3f vg = g_gps->velocity_vector();
airspeed.update_calibration(vg);
gcs_send_airspeed_calibration(vg);
}