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author | Julian Oes <julian@oes.ch> | 2014-03-09 15:50:41 +0100 |
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committer | Julian Oes <julian@oes.ch> | 2014-03-09 15:50:41 +0100 |
commit | 8267bdf4a5aa857db0f970da750d782f1d8ec369 (patch) | |
tree | 232a147fae2be77646a7d24cc158d169f83093e5 | |
parent | 501dc0cfa7259a1916522e5b70a5fd31cb7d20e1 (diff) | |
download | px4-firmware-8267bdf4a5aa857db0f970da750d782f1d8ec369.tar.gz px4-firmware-8267bdf4a5aa857db0f970da750d782f1d8ec369.tar.bz2 px4-firmware-8267bdf4a5aa857db0f970da750d782f1d8ec369.zip |
fw_att_control: airspeed is now used correctly
-rw-r--r-- | src/modules/fw_att_control/fw_att_control_main.cpp | 14 |
1 files changed, 5 insertions, 9 deletions
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index 17b1028f9..c59a396c2 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -230,7 +230,7 @@ private: /** * Check for airspeed updates. */ - bool vehicle_airspeed_poll(); + void vehicle_airspeed_poll(); /** * Check for accel updates. @@ -452,7 +452,7 @@ FixedwingAttitudeControl::vehicle_manual_poll() } } -bool +void FixedwingAttitudeControl::vehicle_airspeed_poll() { /* check if there is a new position */ @@ -462,10 +462,7 @@ FixedwingAttitudeControl::vehicle_airspeed_poll() if (airspeed_updated) { orb_copy(ORB_ID(airspeed), _airspeed_sub, &_airspeed); // warnx("airspeed poll: ind: %.4f, true: %.4f", _airspeed.indicated_airspeed_m_s, _airspeed.true_airspeed_m_s); - return true; } - - return false; } void @@ -539,7 +536,7 @@ FixedwingAttitudeControl::task_main() parameters_update(); /* get an initial update for all sensor and status data */ - (void)vehicle_airspeed_poll(); + vehicle_airspeed_poll(); vehicle_setpoint_poll(); vehicle_accel_poll(); vehicle_control_mode_poll(); @@ -596,7 +593,7 @@ FixedwingAttitudeControl::task_main() /* load local copies */ orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att); - _airspeed_valid = vehicle_airspeed_poll(); + vehicle_airspeed_poll(); vehicle_setpoint_poll(); @@ -636,8 +633,7 @@ FixedwingAttitudeControl::task_main() float airspeed; /* if airspeed is smaller than min, the sensor is not giving good readings */ - if (!_airspeed_valid || - (_airspeed.indicated_airspeed_m_s < 0.5f * _parameters.airspeed_min) || + if ((_airspeed.indicated_airspeed_m_s < 0.5f * _parameters.airspeed_min) || !isfinite(_airspeed.indicated_airspeed_m_s)) { airspeed = _parameters.airspeed_trim; |