SITL: fix json airspeed

Airspeed calculation for JSON was not quite working because velocity_air_ef was not updated in SIM_JSON.cpp Update libraries/SITL/SIM_JSON.cpp Co-authored-by: Peter Hall <[email protected]> Update libraries/SITL/SIM_JSON.cpp Co-authored-by: Peter Hall <[email protected]> comment changes
ArduPilot · Jul 7, 2024 · 5093f4e · 5093f4e
1 parent 9c81759
commit 5093f4e
Showing 1 changed file with 8 additions and 1 deletion.
diff --git a/libraries/SITL/SIM_JSON.cpp b/libraries/SITL/SIM_JSON.cpp
@@ -323,8 +323,15 @@ void JSON::recv_fdm(const struct sitl_input &input)
 
         airspeed_pitot = state.airspeed;
     } else {
+
+        // wind is not supported yet for JSON sim, assume zero for now        
+        wind_ef.zero(); 
+
+        // velocity relative to airmass in Earth's frame
+        velocity_air_ef = velocity_ef - wind_ef;
+
         // velocity relative to airmass in body frame
-        velocity_air_bf = dcm.transposed() * velocity_ef;
+        velocity_air_bf = dcm.transposed() * velocity_air_ef;
 
         // airspeed
         airspeed = velocity_air_bf.length();