AP_AHRS: return EAS from get_unconstrained_airspeed_EAS

Co-authored-by: luweiagi <[email protected]>
ArduPilot · Dec 17, 2024 · 7e97eba · 7e97eba
1 parent 98c2cfd
commit 7e97eba
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.cpp b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
@@ -1143,13 +1143,13 @@ bool AP_AHRS_DCM::get_unconstrained_airspeed_EAS(uint8_t airspeed_index, float &
 
     if (AP::ahrs().get_wind_estimation_enabled() && have_gps()) {
         // estimated via GPS speed and wind
-        airspeed_ret = _last_airspeed_TAS;
+        airspeed_ret = _last_airspeed_TAS * get_TAS2EAS();
         return true;
     }
 
     // Else give the last estimate, but return false.
     // This is used by the dead-reckoning code
-    airspeed_ret = _last_airspeed_TAS;
+    airspeed_ret = _last_airspeed_TAS * get_TAS2EAS();
     return false;
 }