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change name to true_airspeed

This commit is contained in:
CarlOlsson 2016-04-04 16:10:52 +02:00
parent 068c29851c
commit 1ea26b406a
3 changed files with 3 additions and 3 deletions
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2
EKF/airspeed_fusion.cpp
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@ -132,7 +132,7 @@ void Ekf::fuseAirspeed()
// calculate measurement innovation // calculate measurement innovation
_airspeed_innov = v_tas_pred - _airspeed_sample_delayed.airspeed; // This is TAS, maybe we should indicate that in some way _airspeed_innov = v_tas_pred - _airspeed_sample_delayed.true_airspeed;
// Calculate the innovation variance // Calculate the innovation variance
_airspeed_innov_var = 1.0f / SK_TAS[0]; _airspeed_innov_var = 1.0f / SK_TAS[0];

2
EKF/common.h
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@ -112,7 +112,7 @@ struct rangeSample {
}; };
struct airspeedSample { struct airspeedSample {
float airspeed; // true airspeed measurement in m/s float true_airspeed; // true airspeed measurement in m/s
uint64_t time_us; // timestamp in microseconds uint64_t time_us; // timestamp in microseconds
}; };

2
EKF/estimator_interface.cpp
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@ -208,7 +208,7 @@ void EstimatorInterface::setAirspeedData(uint64_t time_usec, float *data)
if (time_usec - _time_last_airspeed > 80000) { if (time_usec - _time_last_airspeed > 80000) {
airspeedSample airspeed_sample_new; airspeedSample airspeed_sample_new;
airspeed_sample_new.airspeed = *data; airspeed_sample_new.true_airspeed = *data;
airspeed_sample_new.time_us = time_usec - _params.airspeed_delay_ms * 1000; airspeed_sample_new.time_us = time_usec - _params.airspeed_delay_ms * 1000;
airspeed_sample_new.time_us -= FILTER_UPDATE_PERRIOD_MS * 1000 / 2; //typo PeRRiod airspeed_sample_new.time_us -= FILTER_UPDATE_PERRIOD_MS * 1000 / 2; //typo PeRRiod
_time_last_airspeed = time_usec; _time_last_airspeed = time_usec;