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AP_AHRS: add option to disable the EKF check for airspeed 

for some flight profiles (such as glider pullup) the EKF airpeed
consistency check may be triggered, leading to a valid airspeed being
ignored, which can lead TECS to be in non-airspeed mode
This commit is contained in:
Andrew Tridgell 2024-09-29 07:32:44 +10:00
parent 413452aa1a
commit 1e310ac86f
2 changed files with 5 additions and 3 deletions
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7
libraries/AP_AHRS/AP_AHRS.cpp
View File

@ -189,8 +189,8 @@ const AP_Param::GroupInfo AP_AHRS::var_info[] = {
// @Param: OPTIONS
// @DisplayName: Optional AHRS behaviour
// @Description: This controls optional AHRS behaviour. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly-forward flight to not fall back to DCM when the EKF stops navigating. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly-forward (VTOL) flight to not fall back to DCM when the EKF stops navigating.
// @Bitmask: 0:DisableDCMFallbackFW, 1:DisableDCMFallbackVTOL
// @Description: This controls optional AHRS behaviour. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly-forward flight to not fall back to DCM when the EKF stops navigating. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly-forward (VTOL) flight to not fall back to DCM when the EKF stops navigating. Setting DontDisableAirspeedUsingEKF disables the EKF based innovation check for airspeed consistency
// @Bitmask: 0:DisableDCMFallbackFW, 1:DisableDCMFallbackVTOL, 2:DontDisableAirspeedUsingEKF
// @User: Advanced
AP_GROUPINFO("OPTIONS", 18, AP_AHRS, _options, 0),
@ -915,7 +915,8 @@ bool AP_AHRS::_should_use_airspeed_sensor(uint8_t airspeed_index) const
return false;
}
nav_filter_status filter_status;
if (fly_forward &&
if (!option_set(Options::DISABLE_AIRSPEED_EKF_CHECK) &&
fly_forward &&
hal.util->get_soft_armed() &&
get_filter_status(filter_status) &&
(filter_status.flags.rejecting_airspeed && !filter_status.flags.dead_reckoning)) {

1
libraries/AP_AHRS/AP_AHRS.h
View File

@ -1018,6 +1018,7 @@ private:
enum class Options : uint16_t {
DISABLE_DCM_FALLBACK_FW=(1U<<0),
DISABLE_DCM_FALLBACK_VTOL=(1U<<1),
DISABLE_AIRSPEED_EKF_CHECK=(1U<<2),
};
AP_Int16 _options;