From fc39af08a1d6673aa727a84b17afd6c4485dff19 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 5 Apr 2014 17:02:37 +0200 Subject: airspeed: Prevent the filter from overshooting into the negative airspeed range --- src/drivers/meas_airspeed/meas_airspeed.cpp | 6 ++++++ 1 file changed, 6 insertions(+) (limited to 'src/drivers/meas_airspeed/meas_airspeed.cpp') 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; -- cgit v1.2.3