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SITL: fix json airspeed #27476

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Jul 9, 2024
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SITL: fix json airspeed #27476

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13 changes: 7 additions & 6 deletions libraries/SITL/SIM_JSON.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -323,14 +323,15 @@ void JSON::recv_fdm(const struct sitl_input &input)

airspeed_pitot = state.airspeed;
} else {
// velocity relative to airmass in body frame
velocity_air_bf = dcm.transposed() * velocity_ef;

// wind is not supported yet for JSON sim, assume zero for now
wind_ef.zero();

// airspeed
airspeed = velocity_air_bf.length();
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I see other backends still updating these; why do we no longer need to do that here?

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The calculation is already done inside update_eas_airspeed(). If left as it is, the variable airspeed will be
rewritten anyway. I figure it's better to remove the line to avoid confusion.

// velocity relative to airmass in Earth's frame
velocity_air_ef = velocity_ef - wind_ef;

// airspeed as seen by a fwd pitot tube (limited to 120m/s)
airspeed_pitot = constrain_float(velocity_air_bf * Vector3f(1.0f, 0.0f, 0.0f), 0.0f, 120.0f);
// velocity relative to airmass in body frame
velocity_air_bf = dcm.transposed() * velocity_air_ef;

// airspeed fix for eas2tas
update_eas_airspeed();
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