From 2142459027ffee7e9a18d466fcd4f8cd0a9613d2 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
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);
}
--
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