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AP_Airspeed:add option to report cal offset to GCS

This commit is contained in:
Henry Wurzburg 2024-04-06 10:59:55 -05:00 committed by Andrew Tridgell
parent 44891ce570
commit 06efeb20cd
2 changed files with 8 additions and 3 deletions
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10
libraries/AP_Airspeed/AP_Airspeed.cpp
View File

@ -125,9 +125,9 @@ const AP_Param::GroupInfo AP_Airspeed::var_info[] = {
#ifndef HAL_BUILD_AP_PERIPH #ifndef HAL_BUILD_AP_PERIPH
// @Param: _OPTIONS // @Param: _OPTIONS
// @DisplayName: Airspeed options bitmask // @DisplayName: Airspeed options bitmask
// @Description: Bitmask of options to use with airspeed. 0:Disable use based on airspeed/groundspeed mismatch (see ARSPD_WIND_MAX), 1:Automatically reenable use based on airspeed/groundspeed mismatch recovery (see ARSPD_WIND_MAX) 2:Disable voltage correction, 3:Check that the airspeed is statistically consistent with the navigation EKF vehicle and wind velocity estimates using EKF3 (requires AHRS_EKF_TYPE = 3) // @Description: Bitmask of options to use with airspeed. 0:Disable use based on airspeed/groundspeed mismatch (see ARSPD_WIND_MAX), 1:Automatically reenable use based on airspeed/groundspeed mismatch recovery (see ARSPD_WIND_MAX) 2:Disable voltage correction, 3:Check that the airspeed is statistically consistent with the navigation EKF vehicle and wind velocity estimates using EKF3 (requires AHRS_EKF_TYPE = 3), 4:Report cal offset to GCS
// @Description{Copter, Blimp, Rover, Sub}: This parameter and function is not used by this vehicle. Always set to 0. // @Description{Copter, Blimp, Rover, Sub}: This parameter and function is not used by this vehicle. Always set to 0.
// @Bitmask: 0:SpeedMismatchDisable, 1:AllowSpeedMismatchRecovery, 2:DisableVoltageCorrection, 3:UseEkf3Consistency // @Bitmask: 0:SpeedMismatchDisable, 1:AllowSpeedMismatchRecovery, 2:DisableVoltageCorrection, 3:UseEkf3Consistency, 4:ReportOffset
// @User: Advanced // @User: Advanced
AP_GROUPINFO("_OPTIONS", 21, AP_Airspeed, _options, OPTIONS_DEFAULT), AP_GROUPINFO("_OPTIONS", 21, AP_Airspeed, _options, OPTIONS_DEFAULT),
@ -557,7 +557,6 @@ void AP_Airspeed::update_calibration(uint8_t i, float raw_pressure)
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Airspeed %u unhealthy", i + 1); GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Airspeed %u unhealthy", i + 1);
calibration_state[i] = CalibrationState::FAILED; calibration_state[i] = CalibrationState::FAILED;
} else { } else {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Airspeed %u calibrated", i + 1);
float calibrated_offset = state[i].cal.sum / state[i].cal.count; float calibrated_offset = state[i].cal.sum / state[i].cal.count;
// check if new offset differs too greatly from last calibration, indicating pitot uncovered in wind // check if new offset differs too greatly from last calibration, indicating pitot uncovered in wind
if (fixed_wing_parameters != nullptr) { if (fixed_wing_parameters != nullptr) {
@ -570,6 +569,11 @@ void AP_Airspeed::update_calibration(uint8_t i, float raw_pressure)
} }
param[i].offset.set_and_save(calibrated_offset); param[i].offset.set_and_save(calibrated_offset);
calibration_state[i] = CalibrationState::SUCCESS; calibration_state[i] = CalibrationState::SUCCESS;
if (_options & AP_Airspeed::OptionsMask::REPORT_OFFSET ){
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Airspeed %u calibrated, offset = %4.0f", i + 1, calibrated_offset);
} else {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Airspeed %u calibrated", i + 1);
}
} }
state[i].cal.start_ms = 0; state[i].cal.start_ms = 0;
return; return;

1
libraries/AP_Airspeed/AP_Airspeed.h
View File

@ -171,6 +171,7 @@ public:
ON_FAILURE_AHRS_WIND_MAX_RECOVERY_DO_REENABLE = (1<<1), // If set then automatically enable the airspeed sensor use when healthy again. ON_FAILURE_AHRS_WIND_MAX_RECOVERY_DO_REENABLE = (1<<1), // If set then automatically enable the airspeed sensor use when healthy again.
DISABLE_VOLTAGE_CORRECTION = (1<<2), DISABLE_VOLTAGE_CORRECTION = (1<<2),
USE_EKF_CONSISTENCY = (1<<3), USE_EKF_CONSISTENCY = (1<<3),
REPORT_OFFSET = (1<<4), // report offset cal to GCS
}; };
enum airspeed_type { enum airspeed_type {