From 230d7f2558a00aa8e4baa9d174de984c9d4cf426 Mon Sep 17 00:00:00 2001 From: kamilritz Date: Tue, 21 Jan 2020 14:39:57 +0100 Subject: [PATCH] Update EKF airspeed interface --- src/modules/ekf2/ekf2_main.cpp | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp index 5215cea73f..9ac72de8dc 100644 --- a/src/modules/ekf2/ekf2_main.cpp +++ b/src/modules/ekf2/ekf2_main.cpp @@ -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 -