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AirspeedSelector: parameter clean up and disable re-enabling if clear delay negative

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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 98d057b8c9
commit 28f9214e56
3 changed files with 13 additions and 11 deletions
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src/modules/airspeed_selector/airspeed_selector_main.cpp
+4 -4
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@@ -165,8 +165,8 @@ private:
(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 */
(ParamInt<px4::params::ASPD_FS_T1>) _checks_fail_delay, /**< delay to declare airspeed invalid */
(ParamInt<px4::params::ASPD_FS_T2>) _checks_clear_delay, /**< delay to declare airspeed valid again */
(ParamInt<px4::params::ASPD_FS_T_STOP>) _checks_fail_delay, /**< delay to declare airspeed invalid */
(ParamInt<px4::params::ASPD_FS_T_START>) _checks_clear_delay, /**< delay to declare airspeed valid again */
(ParamFloat<px4::params::ASPD_STALL>) _airspeed_stall /**< stall speed*/
)
@@ -545,11 +545,11 @@ void AirspeedModule::select_airspeed_and_publish()
(_number_of_airspeed_sensors > 0 || !_vehicle_land_detected.landed) &&
_valid_airspeed_index != _prev_airspeed_index) {
if (_prev_airspeed_index > 0) {
mavlink_log_critical(&_mavlink_log_pub, "Airspeed sensor failure deteced (%i, %i)", _prev_airspeed_index,
mavlink_log_critical(&_mavlink_log_pub, "Airspeed sensor failure detected (%i, %i)", _prev_airspeed_index,
_valid_airspeed_index);
} else if (_prev_airspeed_index == 0 && _valid_airspeed_index == -1) {
mavlink_log_info(&_mavlink_log_pub, "Airspeed estimation invald");
mavlink_log_info(&_mavlink_log_pub, "Airspeed estimation invalid");
} else if (_prev_airspeed_index == -1 && _valid_airspeed_index == 0) {
mavlink_log_info(&_mavlink_log_pub, "Airspeed estimation valid");