From 2142459027ffee7e9a18d466fcd4f8cd0a9613d2 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Mon, 29 Apr 2019 10:11:00 -0400 Subject: [PATCH] Revert "simulator: remove hack for diff_pressure noise" This reverts commit 4a71984f77249230787b7d263d866d6cfa78a7ac. --- src/modules/simulator/simulator_mavlink.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp index e16890043f..018fe0aa3b 100644 --- a/src/modules/simulator/simulator_mavlink.cpp +++ b/src/modules/simulator/simulator_mavlink.cpp @@ -262,7 +262,9 @@ void Simulator::update_sensors(const mavlink_hil_sensor_t *imu) RawAirspeedData airspeed = {}; airspeed.temperature = imu->temperature; - airspeed.diff_pressure = imu->diff_pressure; + // FIXME: diff_pressure needs some noise to pass preflight checks, so we just take the + // noise from the gyro. + airspeed.diff_pressure = imu->diff_pressure + ((imu->ygyro > 0) ? 0.001f : 0.0f); write_airspeed_data(&airspeed); }