dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Airspeed selector: use module params for FW_AIRSPD_STALL 

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2021-05-03 22:15:52 +02:00
parent 2f73115b54
commit 596da5b7d3
1 changed files with 6 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

15
src/modules/airspeed_selector/airspeed_selector_main.cpp
View File

@ -170,7 +170,9 @@ private:
(ParamFloat<px4::params::ASPD_FS_INNOV>) _tas_innov_threshold, /**< innovation check threshold */
(ParamFloat<px4::params::ASPD_FS_INTEG>) _tas_innov_integ_threshold, /**< innovation check integrator threshold */
(ParamInt<px4::params::ASPD_FS_T_STOP>) _checks_fail_delay, /**< delay to declare airspeed invalid */
(ParamInt<px4::params::ASPD_FS_T_START>) _checks_clear_delay /**< delay to declare airspeed valid again */
(ParamInt<px4::params::ASPD_FS_T_START>) _checks_clear_delay, /**< delay to declare airspeed valid again */
(ParamFloat<px4::params::FW_AIRSPD_STALL>) _param_fw_airspd_stall
)
void init(); /**< initialization of the airspeed validator instances */
@ -345,11 +347,9 @@ AirspeedModule::Run()
input_data.airspeed_timestamp = airspeed_raw.timestamp;
input_data.air_temperature_celsius = airspeed_raw.air_temperature_celsius;
float airspeed_stall = 7.0f;
param_get(param_find("FW_AIRSPD_STALL"), &airspeed_stall);
// takeoff situation is active from start till one of the sensors' IAS or groundspeed_CAS is above stall speed
if (airspeed_raw.indicated_airspeed_m_s > airspeed_stall || _ground_minus_wind_CAS > airspeed_stall) {
if (airspeed_raw.indicated_airspeed_m_s > _param_fw_airspd_stall.get()
|| _ground_minus_wind_CAS > _param_fw_airspd_stall.get()) {
_in_takeoff_situation = false;
}
@ -386,9 +386,6 @@ void AirspeedModule::update_params()
{
updateParams();
float airspeed_stall = 7.0f;
param_get(param_find("FW_AIRSPD_STALL"), &airspeed_stall);
_wind_estimator_sideslip.set_wind_p_noise(_param_west_w_p_noise.get());
_wind_estimator_sideslip.set_tas_scale_p_noise(_param_west_sc_p_noise.get());
_wind_estimator_sideslip.set_tas_noise(_param_west_tas_noise.get());
@ -413,7 +410,7 @@ void AirspeedModule::update_params()
_airspeed_validator[i].set_tas_innov_integ_threshold(_tas_innov_integ_threshold.get());
_airspeed_validator[i].set_checks_fail_delay(_checks_fail_delay.get());
_airspeed_validator[i].set_checks_clear_delay(_checks_clear_delay.get());
_airspeed_validator[i].set_airspeed_stall(airspeed_stall);
_airspeed_validator[i].set_airspeed_stall(_param_fw_airspd_stall.get());
}
// if the airspeed scale estimation is enabled and the airspeed is valid,