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control state: indicate if airspeed is not valid

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Roman
2015-12-11 09:49:04 +01:00
committed by Lorenz Meier
parent 48bbe8f6ba
commit 27e1aaeea5
5 changed files with 25 additions and 8 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+5 -5
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@@ -229,7 +229,7 @@ private:
/* throttle and airspeed states */
float _airspeed_error; ///< airspeed error to setpoint in m/s
bool _airspeed_valid; ///< flag if a valid airspeed estimate exists
uint64_t _airspeed_last_valid; ///< last time airspeed was valid. Used to detect sensor failures
uint64_t _airspeed_last_received; ///< last time airspeed was received. Used to detect timeouts.
float _groundspeed_undershoot; ///< ground speed error to min. speed in m/s
bool _global_pos_valid; ///< global position is valid
math::Matrix<3, 3> _R_nb; ///< current attitude
@@ -558,7 +558,7 @@ FixedwingPositionControl::FixedwingPositionControl() :
launchDetector(),
_airspeed_error(0.0f),
_airspeed_valid(false),
_airspeed_last_valid(0),
_airspeed_last_received(0),
_groundspeed_undershoot(0.0f),
_global_pos_valid(false),
_l1_control(),
@@ -807,13 +807,13 @@ FixedwingPositionControl::control_state_poll()
if (ctrl_state_updated) {
orb_copy(ORB_ID(control_state), _ctrl_state_sub, &_ctrl_state);
_airspeed_valid = true;
_airspeed_last_valid = hrt_absolute_time();
_airspeed_valid = _ctrl_state.airspeed_valid;
_airspeed_last_received = hrt_absolute_time();
} else {
/* no airspeed updates for one second */
if (_airspeed_valid && (hrt_absolute_time() - _airspeed_last_valid) > 1e6) {
if (_airspeed_valid && (hrt_absolute_time() - _airspeed_last_received) > 1e6) {
_airspeed_valid = false;
}
}