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AirspeedValidator: add new check (variance after boot) and disable data stuck check by default

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This new check is inteded to trigger if there is no data variation published by
the airspeed driver for the first 10s after the first data is published.
This is to capture malfunctioning sensors/drivers that do publish a value, this
value though does not come from real sensor measurements.
Previously this was captured by the data stuck check, but it has shown that
some drivers can publish a stuck value without being actually malfunctioning
(e.g. when the airspeed is outside of their measurement range). Checking for
any data variation is the more conservative check that still catches the above
described failure case.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-09-19 17:44:44 +02:00
parent 0a5c9d4951
commit 1a5d0f4347
4 changed files with 54 additions and 9 deletions
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src/modules/airspeed_selector/airspeed_selector_main.cpp
+4 -1
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@@ -162,7 +162,8 @@ private:
CHECK_TYPE_ONLY_DATA_MISSING_BIT = (1 << 0),
CHECK_TYPE_DATA_STUCK_BIT = (1 << 1),
CHECK_TYPE_INNOVATION_BIT = (1 << 2),
CHECK_TYPE_LOAD_FACTOR_BIT = (1 << 3)
CHECK_TYPE_LOAD_FACTOR_BIT = (1 << 3),
CHECK_TYPE_DATA_VARIATION_BIT = (1 << 4)
};
DEFINE_PARAMETERS(
@@ -479,6 +480,8 @@ void AirspeedModule::update_params()
CheckTypeBits::CHECK_TYPE_INNOVATION_BIT);
_airspeed_validator[i].set_enable_load_factor_check(_param_airspeed_checks_on.get() &
CheckTypeBits::CHECK_TYPE_LOAD_FACTOR_BIT);
_airspeed_validator[i].set_enable_data_variation_check(_param_airspeed_checks_on.get() &
CheckTypeBits::CHECK_TYPE_DATA_VARIATION_BIT);
}
}