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AirspeedSelector: improve description of ASPD_FALLBACK_GW

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-01-22 14:16:22 +01:00
parent 0f1207dd7e
commit 11dbc7e17f
2 changed files with 9 additions and 8 deletions
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src/modules/airspeed_selector/airspeed_selector_main.cpp
+2 -2
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@@ -159,7 +159,7 @@ private:
(ParamFloat<px4::params::ASPD_SCALE>) _param_west_airspeed_scale,
(ParamInt<px4::params::ASPD_PRIMARY>) _param_airspeed_primary_index,
(ParamInt<px4::params::ASPD_DO_CHECKS>) _param_airspeed_checks_on,
(ParamInt<px4::params::ASPD_FALLBACK>) _param_airspeed_fallback,
(ParamInt<px4::params::ASPD_FALLBACK_GW>) _param_airspeed_fallback_gw,
(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 */
@@ -525,7 +525,7 @@ void AirspeedModule::select_airspeed_and_publish()
// _vehicle_local_position_valid determines if ground-wind estimate is valid
if (_vehicle_local_position_valid &&
(_param_airspeed_fallback.get() || _param_airspeed_primary_index.get() == airspeed_index::GROUND_MINUS_WIND_INDEX)) {
(_param_airspeed_fallback_gw.get() || _param_airspeed_primary_index.get() == airspeed_index::GROUND_MINUS_WIND_INDEX)) {
_valid_airspeed_index = airspeed_index::GROUND_MINUS_WIND_INDEX;
} else {
src/modules/airspeed_selector/airspeed_selector_params.c
+7 -6
View File
@@ -121,17 +121,18 @@ PARAM_DEFINE_INT32(ASPD_PRIMARY, 1);
PARAM_DEFINE_INT32(ASPD_DO_CHECKS, 0);
/**
* Enable fallback to secondary airspeed measurement.
* Enable fallback to sensor-less airspeed estimation
*
* If ASPD_DO_CHECKS is set to true, then airspeed estimation can fallback from what specified in ASPD_PRIMARY to secondary source (other airspeed sensors, groundspeed minus windspeed).
* @value 0 To other airspeed sensor (if one valid), else disable airspeed
* @value 1 To other airspeed sensor (if one valid), else to ground-windspeed
* If set to true and airspeed checks are enabled, it will use a sensor-less airspeed estimation based on groundspeed
* minus windspeed if no other airspeed sensor available to fall back to.
*
* @value 0 Disable fallback to sensor-less estimation
* @value 1 Enable fallback to sensor-less estimation
* @boolean
* @reboot_required true
* @group Airspeed Validator
*/
PARAM_DEFINE_INT32(ASPD_FALLBACK, 0);
PARAM_DEFINE_INT32(ASPD_FALLBACK_GW, 0);
/**
* Airspeed failsafe consistency threshold (Experimental)