From 61a27698da5e81746c4a6b3952c1ee4b96427d99 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 16 May 2022 15:25:21 +1000 Subject: [PATCH] AP_Airspeed: fixed airspeed cal on 2nd airspeed sensor we need to use the pressure from the sensor we are calibrating --- libraries/AP_Airspeed/Airspeed_Calibration.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_Airspeed/Airspeed_Calibration.cpp b/libraries/AP_Airspeed/Airspeed_Calibration.cpp index c2221e94e0..5a94648328 100644 --- a/libraries/AP_Airspeed/Airspeed_Calibration.cpp +++ b/libraries/AP_Airspeed/Airspeed_Calibration.cpp @@ -128,7 +128,7 @@ void AP_Airspeed::update_calibration(uint8_t i, const Vector3f &vground, int16_t state[i].calibration.state.z = 1.0f / sqrtf(ratio); // calculate true airspeed, assuming a airspeed ratio of 1.0 - float dpress = MAX(get_differential_pressure(), 0); + float dpress = MAX(get_differential_pressure(i), 0); float true_airspeed = sqrtf(dpress) * AP::baro().get_EAS2TAS(); float zratio = state[i].calibration.update(true_airspeed, vground, max_airspeed_allowed_during_cal);