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Commander: use FW_AIRSPD_MAX as threshold for airspeed preflight checks 

Check fails if airspeed reading is above FW_AIRSPD_MAX.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2023-02-01 16:43:20 +01:00 committed by Daniel Agar
parent cb4235887f
commit d9a4d1d5c4
2 changed files with 10 additions and 14 deletions
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22
src/modules/commander/HealthAndArmingChecks/checks/airspeedCheck.cpp
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@ -37,7 +37,7 @@
using namespace time_literals;
AirspeedChecks::AirspeedChecks()
: _param_fw_arsp_mode_handle(param_find("FW_ARSP_MODE")), _param_fw_airspd_trim_handle(param_find("FW_AIRSPD_TRIM"))
: _param_fw_arsp_mode_handle(param_find("FW_ARSP_MODE")), _param_fw_airspd_max_handle(param_find("FW_AIRSPD_MAX"))
{
}
@ -58,10 +58,10 @@ void AirspeedChecks::checkAndReport(const Context &context, Report &reporter)
reporter.setIsPresent(health_component_t::differential_pressure);
float airspeed_trim = 10.0f;
param_get(_param_fw_airspd_trim_handle, &airspeed_trim);
const float arming_max_airspeed_allowed = airspeed_trim / 2.0f; // set to half of trim airspeed
// Maximally allow the airspeed reading to be at FW_AIRSPD_MAX when arming. This is to catch very badly calibrated
// airspeed sensors, but also high wind conditions that prevent a forward flight of the vehicle.
float arming_max_airspeed_allowed = 20.f;
param_get(_param_fw_airspd_max_handle, &arming_max_airspeed_allowed);
/*
* Check if airspeed is declared valid or not by airspeed selector.
@ -79,21 +79,17 @@ void AirspeedChecks::checkAndReport(const Context &context, Report &reporter)
}
}
/*
* Check if airspeed is higher than maximally accepted while the vehicle is landed / not flying
* Negative and positive offsets are considered. This check is optional, because the pitot cover
* might have been removed before arming.
*/
if (!context.isArmed() && _param_com_arm_arsp_en.get()
&& fabsf(airspeed_validated.calibrated_airspeed_m_s) > arming_max_airspeed_allowed) {
/* EVENT
* @description
* Check the airspeed calibration and the pitot.
* Current airspeed reading too high. Check if wind is below maximum airspeed and redo airspeed
* calibration if the measured airspeed does not correspond to wind conditions.
*
* <profile name="dev">
* Measured: {1:.1m/s}, limit: {2:.1m/s}.
*
* This check can be configured via <param>COM_ARM_ARSP_EN</param> parameter.
* This check can be configured via <param>COM_ARM_ARSP_EN</param> and <param>FW_AIRSPD_MAX</param> parameter.
* </profile>
*/
reporter.armingCheckFailure<float, float>(NavModes::None, health_component_t::differential_pressure,
@ -101,7 +97,7 @@ void AirspeedChecks::checkAndReport(const Context &context, Report &reporter)
events::Log::Error, "Airspeed too high", airspeed_validated.calibrated_airspeed_m_s, arming_max_airspeed_allowed);
if (reporter.mavlink_log_pub()) {
mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Airspeed too high - check cal or pitot");
mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Airspeed too high - check airspeed calibration");
}
}

2
src/modules/commander/HealthAndArmingChecks/checks/airspeedCheck.hpp
View File

@ -50,7 +50,7 @@ private:
uORB::Subscription _airspeed_validated_sub{ORB_ID(airspeed_validated)};
const param_t _param_fw_arsp_mode_handle;
const param_t _param_fw_airspd_trim_handle;
const param_t _param_fw_airspd_max_handle;
DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
(ParamInt<px4::params::CBRK_AIRSPD_CHK>) _param_cbrk_airspd_chk,