diff --git a/src/modules/airspeed_selector/airspeed_selector_main.cpp b/src/modules/airspeed_selector/airspeed_selector_main.cpp index f556e792c6..30ceca7c16 100644 --- a/src/modules/airspeed_selector/airspeed_selector_main.cpp +++ b/src/modules/airspeed_selector/airspeed_selector_main.cpp @@ -159,7 +159,7 @@ private: (ParamFloat) _param_west_airspeed_scale, (ParamInt) _param_airspeed_primary_index, (ParamInt) _param_airspeed_checks_on, - (ParamInt) _param_airspeed_fallback, + (ParamInt) _param_airspeed_fallback_gw, (ParamFloat) _tas_innov_threshold, /**< innovation check threshold */ (ParamFloat) _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 { diff --git a/src/modules/airspeed_selector/airspeed_selector_params.c b/src/modules/airspeed_selector/airspeed_selector_params.c index 80ff09b16d..ebd76852ab 100644 --- a/src/modules/airspeed_selector/airspeed_selector_params.c +++ b/src/modules/airspeed_selector/airspeed_selector_params.c @@ -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)