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Do not merge: Plane: hack to always send AIRSPEED_AUTOCAL msg at 10Hz #7002

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Do not merge: Plane: hack to always send AIRSPEED_AUTOCAL msg at 10Hz #7002

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545af9a
Plane: hack to always send AIRSPEED_AUTOCAL msg at 10Hz
kd0aij Sep 20, 2017
d3a82d0
AP_Airspeed: stuff temperature into autocal EAS2TAS field
kd0aij Sep 24, 2017
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7 changes: 5 additions & 2 deletions ArduPlane/ArduPlane.cpp
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Expand Up @@ -67,7 +67,7 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
SCHED_TASK(check_long_failsafe, 3, 400),
SCHED_TASK(read_receiver_rssi, 10, 100),
SCHED_TASK(rpm_update, 10, 100),
SCHED_TASK(airspeed_ratio_update, 1, 100),
SCHED_TASK(airspeed_ratio_update, 10, 100),
SCHED_TASK(update_mount, 50, 100),
SCHED_TASK(update_trigger, 50, 100),
SCHED_TASK(log_perf_info, 0.2, 100),
Expand Down Expand Up @@ -415,6 +415,9 @@ void Plane::dataflash_periodic(void)
*/
void Plane::airspeed_ratio_update(void)
{
const Vector3f &vg = gps.velocity();
gcs_send_airspeed_calibration(vg);

if (!airspeed.enabled() ||
gps.status() < AP_GPS::GPS_OK_FIX_3D ||
gps.ground_speed() < 4) {
Expand All @@ -435,7 +438,7 @@ void Plane::airspeed_ratio_update(void)
// don't calibrate when going beyond normal flight envelope
return;
}
const Vector3f &vg = gps.velocity();
// const Vector3f &vg = gps.velocity();
airspeed.update_calibration(vg, aparm.airspeed_max);
gcs_send_airspeed_calibration(vg);
}
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5 changes: 4 additions & 1 deletion libraries/AP_Airspeed/Airspeed_Calibration.cpp
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Expand Up @@ -152,12 +152,15 @@ void AP_Airspeed::update_calibration(const Vector3f &vground, int16_t max_airspe
// log airspeed calibration data to MAVLink
void AP_Airspeed::log_mavlink_send(mavlink_channel_t chan, const Vector3f &vground)
{
float temp;
get_temperature(temp);
mavlink_msg_airspeed_autocal_send(chan,
vground.x,
vground.y,
vground.z,
get_differential_pressure(),
_EAS2TAS,
// _EAS2TAS,
temp,
_ratio.get(),
_calibration.state.x,
_calibration.state.y,
Expand Down