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AP_OSD: cope with no EKF for vspeed

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This commit is contained in:
Andrew Tridgell 2018-07-10 13:12:49 +10:00
parent 4939f30ec4
commit 6328a7233f
1 changed files with 6 additions and 2 deletions
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8
libraries/AP_OSD/AP_OSD_Screen.cpp
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@ -629,8 +629,12 @@ void AP_OSD_Screen::draw_aspeed(uint8_t x, uint8_t y)
void AP_OSD_Screen::draw_vspeed(uint8_t x, uint8_t y) void AP_OSD_Screen::draw_vspeed(uint8_t x, uint8_t y)
{ {
Vector3f v; Vector3f v;
AP::ahrs().get_velocity_NED(v); float vspd;
float vspd = -v.z; if (AP::ahrs().get_velocity_NED(v)) {
vspd = -v.z;
} else {
vspd = AP::baro().get_climb_rate();
}
char sym; char sym;
if (vspd > 3.0f) { if (vspd > 3.0f) {
sym = SYM_UP_UP; sym = SYM_UP_UP;