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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-03-12 00:20:27 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-03-12 00:20:27 +0100 |
| commit | a977ff2b6295bd4bac614a854ecc35e1b9b2d75c (patch) | |
| tree | d2068daf35a09708e32865e649e5786f7be32728 /src/modules/fw_att_control | |
| parent | 2f06f15240a9d03a282212538283e53e9bcc4b9f (diff) | |
| download | px4-firmware-a977ff2b6295bd4bac614a854ecc35e1b9b2d75c.tar.gz px4-firmware-a977ff2b6295bd4bac614a854ecc35e1b9b2d75c.tar.bz2 px4-firmware-a977ff2b6295bd4bac614a854ecc35e1b9b2d75c.zip | |
fw att control: add timestamp dependency in airspeed check
Diffstat (limited to 'src/modules/fw_att_control')
| -rw-r--r-- | src/modules/fw_att_control/fw_att_control_main.cpp | 3 |
1 files changed, 2 insertions, 1 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 deafd7f86..497d1d15a 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -632,7 +632,8 @@ FixedwingAttitudeControl::task_main() /* if airspeed is smaller than min, the sensor is not giving good readings */ if ((_airspeed.indicated_airspeed_m_s < 0.5f * _parameters.airspeed_min) || - !isfinite(_airspeed.indicated_airspeed_m_s)) { + !isfinite(_airspeed.indicated_airspeed_m_s) || + (float)hrt_elapsed_time(&_airspeed.timestamp) > 1e6f) { airspeed = _parameters.airspeed_trim; } else { |