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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-03-15 13:24:17 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-03-15 13:24:17 +0100 |
| commit | be349b989a7a716a4e8d5ff4143f79124d7abc76 (patch) | |
| tree | 4e12a1bb47c0e5236dc8673c03164bc78ee49794 /src/modules/sensors/sensors.cpp | |
| parent | d2a74dff673e2d3f49fc98dea601be753bd18416 (diff) | |
| download | px4-firmware-be349b989a7a716a4e8d5ff4143f79124d7abc76.tar.gz px4-firmware-be349b989a7a716a4e8d5ff4143f79124d7abc76.tar.bz2 px4-firmware-be349b989a7a716a4e8d5ff4143f79124d7abc76.zip | |
sensors: use filtered diff pressure to calculate airspeed
Diffstat (limited to 'src/modules/sensors/sensors.cpp')
| -rw-r--r-- | src/modules/sensors/sensors.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 4ee04d462..d62177c85 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -1031,8 +1031,8 @@ Sensors::diff_pres_poll(struct sensor_combined_s &raw) raw.differential_pressure_filtered_pa = _diff_pres.differential_pressure_filtered_pa; raw.differential_pressure_counter++; - _airspeed.indicated_airspeed_m_s = calc_indicated_airspeed(_diff_pres.differential_pressure_pa); - _airspeed.true_airspeed_m_s = calc_true_airspeed(_diff_pres.differential_pressure_pa + raw.baro_pres_mbar * 1e2f, + _airspeed.indicated_airspeed_m_s = calc_indicated_airspeed(_diff_pres.differential_pressure_filtered_pa); + _airspeed.true_airspeed_m_s = calc_true_airspeed(_diff_pres.differential_pressure_filtered_pa + raw.baro_pres_mbar * 1e2f, raw.baro_pres_mbar * 1e2f, raw.baro_temp_celcius - PCB_TEMP_ESTIMATE_DEG); /* announce the airspeed if needed, just publish else */ |