From a15e4633b71491b75a0434767d9b0c0ac687d81c Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Wed, 9 Apr 2014 07:06:39 +1000
Subject: [PATCH] SITL: prevent wind effects at negative altitudes
this prevents crashes on takeoff with barometer noise
---
libraries/AP_HAL_AVR_SITL/SITL_State.cpp | 3 +++
1 file changed, 3 insertions(+)
diff --git a/libraries/AP_HAL_AVR_SITL/SITL_State.cpp b/libraries/AP_HAL_AVR_SITL/SITL_State.cpp
index c067789e5..094fec63e 100644
--- a/libraries/AP_HAL_AVR_SITL/SITL_State.cpp
+++ b/libraries/AP_HAL_AVR_SITL/SITL_State.cpp
@@ -495,6 +495,9 @@ void SITL_State::_simulator_output(void)
// setup wind control
float wind_speed = _sitl->wind_speed * 100;
float altitude = _barometer?_barometer->get_altitude():0;
+ if (altitude < 0) {
+ altitude = 0;
+ }
if (altitude < 60) {
wind_speed *= altitude / 60.0f;
}
--
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