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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-05 17:02:37 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-05 17:02:37 +0200 |
| commit | fc39af08a1d6673aa727a84b17afd6c4485dff19 (patch) | |
| tree | 20b00e74e6885f781fbdf1e9ff1a6ce7ca6bc8cc /src/drivers/meas_airspeed/meas_airspeed.cpp | |
| parent | 3da219c3db638e0a57d18e892575df13d8c11f47 (diff) | |
| download | px4-firmware-fc39af08a1d6673aa727a84b17afd6c4485dff19.tar.gz px4-firmware-fc39af08a1d6673aa727a84b17afd6c4485dff19.tar.bz2 px4-firmware-fc39af08a1d6673aa727a84b17afd6c4485dff19.zip | |
airspeed: Prevent the filter from overshooting into the negative airspeed range
Diffstat (limited to 'src/drivers/meas_airspeed/meas_airspeed.cpp')
| -rw-r--r-- | src/drivers/meas_airspeed/meas_airspeed.cpp | 6 |
1 files changed, 6 insertions, 0 deletions
diff --git a/src/drivers/meas_airspeed/meas_airspeed.cpp b/src/drivers/meas_airspeed/meas_airspeed.cpp index 58b128948..1ad383ee0 100644 --- a/src/drivers/meas_airspeed/meas_airspeed.cpp +++ b/src/drivers/meas_airspeed/meas_airspeed.cpp @@ -258,6 +258,12 @@ MEASAirspeed::collect() report.temperature = temperature; report.differential_pressure_pa = diff_press_pa; report.differential_pressure_filtered_pa = _filter.apply(diff_press_pa); + + /* the dynamics of the filter can make it overshoot into the negative range */ + if (report.differential_pressure_filtered_pa < 0.0f) { + report.differential_pressure_filtered_pa = _filter.reset(diff_press_pa); + } + report.differential_pressure_raw_pa = diff_press_pa_raw; report.voltage = 0; report.max_differential_pressure_pa = _max_differential_pressure_pa; |