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Update EKF airspeed interface

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kamilritz
2020-01-21 14:39:57 +01:00
committed by Mathieu Bresciani
parent 8772e09963
commit 230d7f2558
1 changed files with 5 additions and 2 deletions
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7
src/modules/ekf2/ekf2_main.cpp
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@@ -1024,8 +1024,11 @@ void Ekf2::Run()
// only set airspeed data if condition for airspeed fusion are met
if ((_param_ekf2_arsp_thr.get() > FLT_EPSILON) && (airspeed.true_airspeed_m_s > _param_ekf2_arsp_thr.get())) {
const float eas2tas = airspeed.true_airspeed_m_s / airspeed.indicated_airspeed_m_s;
_ekf.setAirspeedData(airspeed.timestamp, airspeed.true_airspeed_m_s, eas2tas);
airspeedSample airspeed_sample;
airspeed_sample.time_us = airspeed.timestamp;
airspeed_sample.eas2tas = airspeed.true_airspeed_m_s / airspeed.indicated_airspeed_m_s;
airspeed_sample.true_airspeed = airspeed.true_airspeed_m_s;
_ekf.setAirspeedData(airspeed_sample);
}
ekf2_timestamps.airspeed_timestamp_rel = (int16_t)((int64_t)airspeed.timestamp / 100 -