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AirspeedSelector: define start/stop delay params as floats

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2024-01-31 12:41:02 +01:00
committed by Roman Bapst
parent 0932f50d79
commit 5513dfa95d
3 changed files with 8 additions and 6 deletions
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src/modules/airspeed_selector/AirspeedValidator.hpp
+2 -2
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@@ -162,8 +162,8 @@ private:
// states of airspeed valid declaration
bool _airspeed_valid{true}; ///< airspeed valid (pitot or groundspeed-windspeed)
int _checks_fail_delay{3}; ///< delay for airspeed invalid declaration after single check failure (Sec)
int _checks_clear_delay{-1}; ///< delay for airspeed valid declaration after all checks passed again (Sec)
float _checks_fail_delay{2.f}; ///< delay for airspeed invalid declaration after single check failure (Sec)
float _checks_clear_delay{-1.f}; ///< delay for airspeed valid declaration after all checks passed again (Sec)
uint64_t _time_checks_passed{0}; ///< time the checks have last passed (uSec)
uint64_t _time_checks_failed{0}; ///< time the checks have last not passed (uSec)
src/modules/airspeed_selector/airspeed_selector_main.cpp
+2 -2
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@@ -182,8 +182,8 @@ 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_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_FS_T_STOP>) _checks_fail_delay, /**< delay to declare airspeed invalid */
(ParamFloat<px4::params::ASPD_FS_T_START>) _checks_clear_delay, /**< delay to declare airspeed valid again */
(ParamFloat<px4::params::FW_AIRSPD_STALL>) _param_fw_airspd_stall,
(ParamFloat<px4::params::ASPD_WERR_THR>) _param_wind_sigma_max_synth_tas
src/modules/airspeed_selector/airspeed_selector_params.c
+4 -2
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@@ -210,8 +210,9 @@ PARAM_DEFINE_FLOAT(ASPD_FS_INTEG, 10.f);
* @group Airspeed Validator
* @min 1
* @max 10
* @decimal 1
*/
PARAM_DEFINE_INT32(ASPD_FS_T_STOP, 2);
PARAM_DEFINE_FLOAT(ASPD_FS_T_STOP, 2.f);
/**
* Airspeed failsafe start delay
@@ -223,8 +224,9 @@ PARAM_DEFINE_INT32(ASPD_FS_T_STOP, 2);
* @group Airspeed Validator
* @min -1
* @max 1000
* @decimal 1
*/
PARAM_DEFINE_INT32(ASPD_FS_T_START, -1);
PARAM_DEFINE_FLOAT(ASPD_FS_T_START, -1.f);
/**
* Horizontal wind uncertainty threshold for synthetic airspeed.