From 45968c614e2279a23621b8e1ed2b4a9d98facb71 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Thu, 6 Jul 2023 12:10:44 -0400 Subject: [PATCH] airspeed_selector: fix aspd typos --- src/modules/airspeed_selector/AirspeedValidator.cpp | 10 +++++----- src/modules/airspeed_selector/AirspeedValidator.hpp | 2 +- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/src/modules/airspeed_selector/AirspeedValidator.cpp b/src/modules/airspeed_selector/AirspeedValidator.cpp index d81090f261..4707774eb0 100644 --- a/src/modules/airspeed_selector/AirspeedValidator.cpp +++ b/src/modules/airspeed_selector/AirspeedValidator.cpp @@ -226,13 +226,13 @@ AirspeedValidator::check_airspeed_innovation(uint64_t time_now, float estimator_ || _tas_innov_integ_threshold <= 0.f) { _innovations_check_failed = false; _time_last_tas_pass = time_now; - _apsd_innov_integ_state = 0.f; + _aspd_innov_integ_state = 0.f; } else if (!lpos_valid || estimator_status_vel_test_ratio > 1.f || estimator_status_mag_test_ratio > 1.f) { //nav velocity data is likely not good //don't run the test but don't reset the check if it had previously failed when nav velocity data was still likely good _time_last_tas_pass = time_now; - _apsd_innov_integ_state = 0.f; + _aspd_innov_integ_state = 0.f; } else { // nav velocity data is likely good so airspeed innovations are able to be used @@ -242,14 +242,14 @@ AirspeedValidator::check_airspeed_innovation(uint64_t time_now, float estimator_ const float tas_innov = fabsf(_TAS - air_vel.norm()); if (tas_innov > _tas_innov_threshold) { - _apsd_innov_integ_state += dt_s * (tas_innov - _tas_innov_threshold); // integrate exceedance + _aspd_innov_integ_state += dt_s * (tas_innov - _tas_innov_threshold); // integrate exceedance } else { // reset integrator used to trigger and record pass if integrator check is disabled - _apsd_innov_integ_state = 0.f; + _aspd_innov_integ_state = 0.f; } - if (_tas_innov_integ_threshold > 0.f && _apsd_innov_integ_state < _tas_innov_integ_threshold) { + if (_tas_innov_integ_threshold > 0.f && _aspd_innov_integ_state < _tas_innov_integ_threshold) { _time_last_tas_pass = time_now; } diff --git a/src/modules/airspeed_selector/AirspeedValidator.hpp b/src/modules/airspeed_selector/AirspeedValidator.hpp index c0b6db0377..ba8f5c1a30 100644 --- a/src/modules/airspeed_selector/AirspeedValidator.hpp +++ b/src/modules/airspeed_selector/AirspeedValidator.hpp @@ -151,7 +151,7 @@ private: float _tas_innov_integ_threshold{-1.0}; ///< integrator innovation error threshold for triggering innovation check failure uint64_t _time_last_aspd_innov_check{0}; ///< time airspeed innovation was last checked (uSec) uint64_t _time_last_tas_pass{0}; ///< last time innovation checks passed - float _apsd_innov_integ_state{0.0f}; ///< integral of excess normalised airspeed innovation (sec) + float _aspd_innov_integ_state{0.0f}; ///< integral of excess normalised airspeed innovation (sec) static constexpr uint64_t TAS_INNOV_FAIL_DELAY{1_s}; ///< time required for innovation levels to pass or fail (usec) uint64_t _time_wind_estimator_initialized{0}; ///< time last time wind estimator was initialized (uSec)