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AP_Airspeed: add inflight airspeed cal rc switch

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Hwurzburg 2020-11-24 08:13:10 -06:00 committed by Peter Barker
parent 8c2688605e
commit 615b8add8c
2 changed files with 9 additions and 1 deletions
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7
libraries/AP_Airspeed/AP_Airspeed.h
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@ -48,6 +48,11 @@ public:
void init(void);
#if AP_AIRSPEED_AUTOCAL_ENABLE
// inflight ratio calibration
void set_calibration_enabled(bool enable) {calibration_enabled = enable;}
#endif //AP_AIRSPEED_AUTOCAL_ENABLE
// read the analog source and update airspeed
void update(bool log);
@ -230,6 +235,8 @@ private:
} failures;
} state[AIRSPEED_MAX_SENSORS];
bool calibration_enabled = false;
// current primary sensor
uint8_t primary;
uint8_t num_sensors;

3
libraries/AP_Airspeed/Airspeed_Calibration.cpp
View File

@ -115,7 +115,7 @@ float Airspeed_Calibration::update(float airspeed, const Vector3f &vg, int16_t m
void AP_Airspeed::update_calibration(uint8_t i, const Vector3f &vground, int16_t max_airspeed_allowed_during_cal)
{
#if AP_AIRSPEED_AUTOCAL_ENABLE
if (!param[i].autocal) {
if (!param[i].autocal && !calibration_enabled) {
// auto-calibration not enabled
return;
}
@ -146,6 +146,7 @@ void AP_Airspeed::update_calibration(uint8_t i, const Vector3f &vground, int16_t
param[i].ratio.save();
state[i].last_saved_ratio = param[i].ratio;
state[i].counter = 0;
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Airspeed %u ratio reset: %f", i , static_cast<double> (param[i].ratio));
}
} else {
state[i].counter++;