From a977ff2b6295bd4bac614a854ecc35e1b9b2d75c Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Wed, 12 Mar 2014 00:20:27 +0100 Subject: fw att control: add timestamp dependency in airspeed check --- src/modules/fw_att_control/fw_att_control_main.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) (limited to 'src/modules/fw_att_control') 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 { -- cgit v1.2.3