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| author | tumbili <bapstr@ethz.ch> | 2014-12-15 22:12:11 +0100 |
|---|---|---|
| committer | tumbili <bapstr@ethz.ch> | 2014-12-15 22:12:11 +0100 |
| commit | 51a7fbeee091c20eb52bafade3e2041e26a785cc (patch) | |
| tree | 29b6356655c3b5d0b6c385046079cd7c82f0bea6 | |
| parent | 9bf19c8d1e05c8d182a9989061882065504927d1 (diff) | |
| download | px4-firmware-51a7fbeee091c20eb52bafade3e2041e26a785cc.tar.gz px4-firmware-51a7fbeee091c20eb52bafade3e2041e26a785cc.tar.bz2 px4-firmware-51a7fbeee091c20eb52bafade3e2041e26a785cc.zip | |
added sanity checkto prevent false low airspeed readings during transition
| -rw-r--r-- | src/modules/vtol_att_control/vtol_att_control_main.cpp | 5 |
1 files changed, 5 insertions, 0 deletions
diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp index 126ec5832..e3a2dd72e 100644 --- a/src/modules/vtol_att_control/vtol_att_control_main.cpp +++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp @@ -557,6 +557,11 @@ VtolAttitudeControl::scale_mc_output() { airspeed = math::max(0.5f, _airspeed.true_airspeed_m_s); } + // Sanity check if airspeed is consistent with throttle + if(_manual_control_sp.z >= 0.35f && airspeed < _params.mc_airspeed_trim) { // XXX magic number, should be hover throttle param + airspeed = _params.mc_airspeed_trim; + } + /* * For scaling our actuators using anything less than the min (close to stall) * speed doesn't make any sense - its the strongest reasonable deflection we |