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Code Issues Releases Activity

some small fixes to airspeed compensation in Stabilization

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This commit is contained in:
Corvus Corax 2013-07-20 14:52:22 +02:00
parent 2ecbf4a846
commit 4f6c3c98e3
1 changed files with 2 additions and 2 deletions
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4
flight/modules/Stabilization/stabilization.c
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@ -194,9 +194,9 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
#ifdef REVOLUTION
float speedScaleFactor;
// Scale PID coefficients based on current airspeed estimation - needed for fixed wing planes
if (settings.ScaleToAirspeed < 0.1f) {
AirspeedStateGet(&airspeedState);
if (settings.ScaleToAirspeed < 0.1f || airspeedState.CalibratedAirspeed<0.1f) {
// feature has been turned off
AirspeedStateGet(&airspeedState);
speedScaleFactor = 1.0f;
} else {
// scale the factor to be 1.0 at the specified airspeed (for example 10m/s) but scaled by 1/speed^2