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AP_Baro: Do not cache EAS2TAS conversions #26783

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merged 1 commit into from
Apr 22, 2024
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AP_Baro: Do not cache EAS2TAS conversions #26783

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11 changes: 1 addition & 10 deletions libraries/AP_Baro/AP_Baro.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -395,9 +395,6 @@ void AP_Baro::update_calibration()

// always update the guessed ground temp
_guessed_ground_temperature = get_external_temperature();

// force EAS2TAS to recalculate
_EAS2TAS = 0;
}

// return altitude difference in meters between current pressure and a
Expand Down Expand Up @@ -433,10 +430,6 @@ float AP_Baro::get_sealevel_pressure(float pressure) const
float AP_Baro::get_EAS2TAS(void)
{
float altitude = get_altitude();
if ((fabsf(altitude - _last_altitude_EAS2TAS) < 25.0f) && !is_zero(_EAS2TAS)) {
// not enough change to require re-calculating
return _EAS2TAS;
}

float pressure = get_pressure();
if (is_zero(pressure)) {
Expand All @@ -451,9 +444,7 @@ float AP_Baro::get_EAS2TAS(void)
if (!is_positive(eas2tas_squared)) {
return 1.0f;
}
_EAS2TAS = sqrtf(eas2tas_squared);
_last_altitude_EAS2TAS = altitude;
return _EAS2TAS;
return sqrtf(eas2tas_squared);
}

// return air density / sea level density - decreases as altitude climbs
Expand Down
2 changes: 0 additions & 2 deletions libraries/AP_Baro/AP_Baro.h
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Expand Up @@ -287,8 +287,6 @@ class AP_Baro
uint32_t _field_elevation_last_ms;
AP_Int8 _primary_baro; // primary chosen by user
AP_Int8 _ext_bus; // bus number for external barometer
float _last_altitude_EAS2TAS;
float _EAS2TAS;
float _external_temperature;
uint32_t _last_external_temperature_ms;
DerivativeFilterFloat_Size7 _climb_rate_filter;
Expand Down
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