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use pitot values only if healty

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This commit is contained in:
Roman Lut 2023-02-27 18:03:17 +01:00
parent 9c32094f5e
commit 936a7fd3a2
7 changed files with 12 additions and 7 deletions
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4
src/main/navigation/navigation_fixedwing.c
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@ -679,7 +679,9 @@ bool isFixedWingFlying(void)
{
float airspeed = 0.0f;
#ifdef USE_PITOT
airspeed = getAirspeedEstimate();
if (sensors(SENSOR_PITOT) && pitotIsHealthy()) {
airspeed = getAirspeedEstimate();
}
#endif
bool throttleCondition = getMotorCount() == 0 || rcCommand[THROTTLE] > currentBatteryProfile->nav.fw.cruise_throttle;
bool velCondition = posControl.actualState.velXY > 250.0f || airspeed > 250.0f;