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wind_estimate message: add identifier for source 

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2020-10-15 16:22:25 +02:00 committed by Daniel Agar
parent bc1c8fb73a
commit 59564af860
3 changed files with 21 additions and 0 deletions
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8
msg/wind_estimate.msg
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@ -13,3 +13,11 @@ float32 tas_scale # Estimated true airspeed scale factor
float32 beta_innov # Sideslip measurement innovation
float32 beta_innov_var # Sideslip measurement innovation variance
uint8 source # source of wind estimate
uint8 SOURCE_EKF = 0 # wind estimate source is the EKF
uint8 SOURCE_AS_BETA_ONLY = 1 # wind estimate from airspeed selector, only based on synthetic sideslip fusion
uint8 SOURCE_AS_SENSOR_1 = 2 # combined synthetic sideslip and airspeed fusion (data from first airspeed sensor)
uint8 SOURCE_AS_SENSOR_2 = 3 # combined synthetic sideslip and airspeed fusion (data from second airspeed sensor)
uint8 SOURCE_AS_SENSOR_3 = 4 # combined synthetic sideslip and airspeed fusion (data from third airspeed sensor)

12
src/modules/airspeed_selector/airspeed_selector_main.cpp
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@ -486,6 +486,7 @@ void AirspeedModule::update_wind_estimator_sideslip()
_wind_estimate_sideslip.beta_innov = _wind_estimator_sideslip.get_beta_innov();
_wind_estimate_sideslip.beta_innov_var = _wind_estimator_sideslip.get_beta_innov_var();
_wind_estimate_sideslip.tas_scale = _wind_estimator_sideslip.get_tas_scale();
_wind_estimate_sideslip.source = wind_estimate_s::SOURCE_AS_BETA_ONLY;
}
void AirspeedModule::update_ground_minus_wind_airspeed()
@ -593,6 +594,17 @@ void AirspeedModule::select_airspeed_and_publish()
/* publish the wind estimator states from all airspeed validators */
for (int i = 0; i < _number_of_airspeed_sensors; i++) {
wind_estimate_s wind_est = _airspeed_validator[i].get_wind_estimator_states(_time_now_usec);
if (i == 0) {
wind_est.source = wind_estimate_s::SOURCE_AS_SENSOR_1;
} else if (i == 1) {
wind_est.source = wind_estimate_s::SOURCE_AS_SENSOR_2;
} else {
wind_est.source = wind_estimate_s::SOURCE_AS_SENSOR_3;
}
_wind_est_pub[i + 1].publish(wind_est);
}

1
src/modules/ekf2/EKF2.cpp
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@ -1028,6 +1028,7 @@ void EKF2::PublishWindEstimate(const hrt_abstime &timestamp)
wind_estimate.variance_east = wind_vel_var(1);
wind_estimate.tas_scale = 0.0f; //leave at 0 as scale is not estimated in ekf
wind_estimate.timestamp = _replay_mode ? timestamp : hrt_absolute_time();
wind_estimate.source = wind_estimate_s::SOURCE_EKF;
_wind_pub.publish(wind_estimate);
}