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AirspeedSelector: enable sensor checks right after catapult launch

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Airspeed sensor failures are crucial to catch early during catapult/hand launches,
as otherwise the large airspeed error can lead to the vehicle diving. Thus the
_in_takeoff_situation flag, which tells the validator when to enable the checks,
is already set to false when !landed and launched.
For runway takeoffs the logic in unchanged.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2024-10-08 13:16:17 +02:00
parent 936eb89edb
commit 0d31226b1c
1 changed files with 18 additions and 9 deletions
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src/modules/airspeed_selector/airspeed_selector_main.cpp
+18 -9
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@@ -52,6 +52,7 @@
#include <uORB/topics/airspeed_validated.h>
#include <uORB/topics/estimator_selector_status.h>
#include <uORB/topics/estimator_status.h>
#include <uORB/topics/launch_detection_status.h>
#include <uORB/topics/mavlink_log.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/position_setpoint.h>
@@ -124,6 +125,7 @@ private:
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
uORB::Subscription _vtol_vehicle_status_sub{ORB_ID(vtol_vehicle_status)};
uORB::Subscription _position_setpoint_sub{ORB_ID(position_setpoint)};
uORB::Subscription _launch_detection_status_sub{ORB_ID(launch_detection_status)};
uORB::SubscriptionMultiArray<airspeed_s, MAX_NUM_AIRSPEED_SENSORS> _airspeed_subs{ORB_ID::airspeed};
@@ -388,16 +390,23 @@ AirspeedModule::Run()
input_data.airspeed_timestamp = airspeed_raw.timestamp;
input_data.air_temperature_celsius = airspeed_raw.air_temperature_celsius;
// takeoff situation is active from start till one of the sensors' IAS or groundspeed_CAS is above stall speed
if (_in_takeoff_situation &&
(airspeed_raw.indicated_airspeed_m_s > _param_fw_airspd_stall.get() ||
(PX4_ISFINITE(_ground_minus_wind_CAS) && _ground_minus_wind_CAS > _param_fw_airspd_stall.get()))) {
_in_takeoff_situation = false;
}
if (_in_takeoff_situation) {
// set flag to false if either speed is above stall speed,
// or launch detection + land detection indicate flying
const bool speed_above_stall = airspeed_raw.indicated_airspeed_m_s > _param_fw_airspd_stall.get();
airspeed_raw.indicated_airspeed_m_s > _param_fw_airspd_stall.get()
|| (PX4_ISFINITE(_ground_minus_wind_CAS) && _ground_minus_wind_CAS > _param_fw_airspd_stall.get());
// reset takeoff_situation to true when not in air and not in fixed-wing mode
if (!in_air_fixed_wing) {
_in_takeoff_situation = true;
launch_detection_status_s launch_detection_status{};
_launch_detection_status_sub.copy(&launch_detection_status);
const bool launch_detection_flying = launch_detection_status.launch_detection_state ==
launch_detection_status_s::STATE_FLYING
&& !_vehicle_land_detected.landed;
_in_takeoff_situation = !(speed_above_stall || launch_detection_flying);
} else {
// reset takeoff_situation to true when not in air and not in fixed-wing mode
_in_takeoff_situation = !in_air_fixed_wing;
}
input_data.in_fixed_wing_flight = (in_air_fixed_wing && !_in_takeoff_situation);