airspeed_selector: new ASPD_SEL_EN to control enabling/disabling module

2023-07-06 11:46:44 -04:00 · 2023-07-06 11:46:44 -04:00 · 890ae36e78
parent c1cb48c2ea
commit 890ae36e78
3 changed files with 17 additions and 2 deletions
--- a/ROMFS/px4fmu_common/init.d/rc.fw_apps
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_apps
@ -21,7 +21,11 @@ control_allocator start
 fw_rate_control start
 fw_att_control start
 fw_pos_control start
-airspeed_selector start
+
+if param greater -s ASPD_SEL_EN 0
+then
+	airspeed_selector start
+fi

 #
 # Start attitude control auto-tuner
--- a/ROMFS/px4fmu_common/init.d/rc.vtol_apps
+++ b/ROMFS/px4fmu_common/init.d/rc.vtol_apps
@ -20,7 +20,10 @@ ekf2 start &
 #
 control_allocator start

-airspeed_selector start
+if param greater -s ASPD_SEL_EN 0
+then
+	airspeed_selector start
+fi

 vtol_att_control start

--- a/src/modules/airspeed_selector/airspeed_selector_params.c
+++ b/src/modules/airspeed_selector/airspeed_selector_params.c
@ -1,4 +1,12 @@

+/**
+ * Airspeed validator/selector enable
+ *
+ * @boolean
+ * @group Airspeed Validator
+ */
+PARAM_DEFINE_INT32(ASPD_SEL_EN, 1);
+
 /**
 * Airspeed Selector: Wind estimator wind process noise noise spectral density
 *