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px4-firmware/msg/airspeed_validated.msg

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Airspeed Selector: repurpose wind estimator into an airspeed (selection, validation) module. This new airspeed module does: -runns an airspeed validator for every airspeed sensor present, which checks measurement validity and estimates an airspeed scale -selects another airspeed sensor if for the current one a failure is detected -estimates airspeed with groundspeed-windspeed if no valid airspeed sensor is present -outputs airspeed_validated topic Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2019-08-07 08:06:00 -03:00
uint64 timestamp # time since system start (microseconds)
float32 indicated_airspeed_m_s # indicated airspeed in m/s (IAS), set to NAN if invalid
float32 equivalent_airspeed_m_s # equivalent airspeed in m/s (accounts for instrumentation errors) (EAS), set to NAN if invalid
float32 true_airspeed_m_s # true filtered airspeed in m/s (TAS), set to NAN if invalid
Airspeed Selector: enable airspeed_validated in control modules (#12887) * FW attitude controller, FW position controller and VTOL attitude controller subscribe to airspeed_validated topic * add possibility to switch off the airspeed valid checks * remove airspeed valid checks from commander * clean up of VTOL transition logic * Airspeed Selector: remove dynamic allocation of airspeed validators (depending on number of connected sensors) but do it statically for the maximum number allowed. Check for number of connected sensors not only during start up, but always when vehicle is disarmed. * Airspeed Selector: change work queue from lp to att_pos_ctrl as this module is safety-critical * add airspeed selector to px4_fmu-v2 defaults
2019-11-21 15:14:26 -04:00
float32 equivalent_ground_minus_wind_m_s # EAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid
Airspeed Selector: repurpose wind estimator into an airspeed (selection, validation) module. This new airspeed module does: -runns an airspeed validator for every airspeed sensor present, which checks measurement validity and estimates an airspeed scale -selects another airspeed sensor if for the current one a failure is detected -estimates airspeed with groundspeed-windspeed if no valid airspeed sensor is present -outputs airspeed_validated topic Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2019-08-07 08:06:00 -03:00
float32 true_ground_minus_wind_m_s # TAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid
Airspeed Selector: enable airspeed_validated in control modules (#12887) * FW attitude controller, FW position controller and VTOL attitude controller subscribe to airspeed_validated topic * add possibility to switch off the airspeed valid checks * remove airspeed valid checks from commander * clean up of VTOL transition logic * Airspeed Selector: remove dynamic allocation of airspeed validators (depending on number of connected sensors) but do it statically for the maximum number allowed. Check for number of connected sensors not only during start up, but always when vehicle is disarmed. * Airspeed Selector: change work queue from lp to att_pos_ctrl as this module is safety-critical * add airspeed selector to px4_fmu-v2 defaults
2019-11-21 15:14:26 -04:00
bool airspeed_sensor_measurement_valid # True if data from at least one airspeed sensor is declared valid.
int8 selected_airspeed_index # 1-3: airspeed sensor index, 0: groundspeed-windspeed, -1: airspeed invalid