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AirspeedSelector: add synthetic airspeed option

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Synthetic airspeed is calculated based on the thrust setpoint
and the thrust<->airpseed model as configured in the parameters.
This commit is contained in:
Marco Hauswirth 2025-04-04 16:52:05 +02:00 committed by Silvan Fuhrer
parent c3c863ad95
commit 5842c991ec
14 changed files with 222 additions and 56 deletions
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4
docs/assets/airframes/fw/reptile_dragon_2/reptile_dragon_2_params.params
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@ -1,5 +1,5 @@
param set-default ASPD_DO_CHECKS 19
param set-default ASPD_FALLBACK_GW 1
param set-default ASPD_FALLBACK 1
param set-default BAT1_N_CELLS 4
param set-default BAT1_V_CHARGED 4.2000
param set-default BAT1_V_EMPTY 2.9000
@ -61,4 +61,4 @@ param set-default PWM_AUX_TIM3 100
param set-default SDLOG_PROFILE 17
param set-default SENS_EN_MS4525DO 1
param set-default TRIM_PITCH 0.1000
# Make sure to add all params from the current airframe (ID=2100) as well
# Make sure to add all params from the current airframe (ID=2100) as well

4
docs/assets/airframes/fw/turbo_timber_evolution/tteparams.params
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@ -1,5 +1,5 @@
param set-default ASPD_DO_CHECKS 19
param set-default ASPD_FALLBACK_GW 1
param set-default ASPD_FALLBACK 1
param set-default BAT1_N_CELLS 4
param set-default BAT1_V_CHARGED 4.2000
param set-default BAT1_V_EMPTY 2.5000
@ -80,4 +80,4 @@ param set-default SENS_EN_MS4525DO 1
param set-default SER_TEL1_BAUD 115200
param set-default TRIM_PITCH -0.4000
param set-default UAVCAN_ENABLE 0
# Make sure to add all params from the current airframe (ID=2100) as well
# Make sure to add all params from the current airframe (ID=2100) as well

18
msg/px4_msgs_old/msg/AirspeedValidatedV0.msg Normal file
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@ -0,0 +1,18 @@
uint32 MESSAGE_VERSION = 0
uint64 timestamp # time since system start (microseconds)
float32 indicated_airspeed_m_s # indicated airspeed in m/s (IAS), set to NAN if invalid
float32 calibrated_airspeed_m_s # calibrated airspeed in m/s (CAS, accounts for instrumentation errors), set to NAN if invalid
float32 true_airspeed_m_s # true filtered airspeed in m/s (TAS), set to NAN if invalid
float32 calibrated_ground_minus_wind_m_s # CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid
float32 true_ground_minus_wind_m_s # TAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid
bool airspeed_sensor_measurement_valid # True if data from at least one airspeed sensor is declared valid.
int8 selected_airspeed_index # 1-3: airspeed sensor index, 0: groundspeed-windspeed, -1: airspeed invalid
float32 airspeed_derivative_filtered # filtered indicated airspeed derivative [m/s/s]
float32 throttle_filtered # filtered fixed-wing throttle [-]
float32 pitch_filtered # filtered pitch [rad]

1
msg/translation_node/translations/all_translations.h
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@ -11,3 +11,4 @@
//#include "example_translation_service_v1.h"
#include "translation_vehicle_status_v1.h"
#include "translation_airspeed_validated_v1.h"

51
msg/translation_node/translations/translation_airspeed_validated_v1.h Normal file
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@ -0,0 +1,51 @@
/****************************************************************************
* Copyright (c) 2025 PX4 Development Team.
* SPDX-License-Identifier: BSD-3-Clause
****************************************************************************/
#pragma once
// Translate AirspeedValidated v0 <--> v1
#include <px4_msgs_old/msg/airspeed_validated_v0.hpp>
#include <px4_msgs/msg/airspeed_validated.hpp>
class AirspeedValidatedV1Translation {
public:
using MessageOlder = px4_msgs_old::msg::AirspeedValidatedV0;
static_assert(MessageOlder::MESSAGE_VERSION == 0);
using MessageNewer = px4_msgs::msg::AirspeedValidated;
static_assert(MessageNewer::MESSAGE_VERSION == 1);
static constexpr const char* kTopic = "fmu/out/airspeed_validated";
static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
// Set msg_newer from msg_older
msg_newer.timestamp = msg_older.timestamp;
msg_newer.indicated_airspeed_m_s = msg_older.indicated_airspeed_m_s;
msg_newer.calibrated_airspeed_m_s = msg_older.calibrated_airspeed_m_s;
msg_newer.true_airspeed_m_s = msg_older.true_airspeed_m_s;
msg_newer.airspeed_source = msg_older.selected_airspeed_index;
msg_newer.calibrated_ground_minus_wind_m_s = msg_older.calibrated_ground_minus_wind_m_s;
msg_newer.calibraded_airspeed_synth_m_s = NAN;
msg_newer.airspeed_derivative_filtered = msg_older.airspeed_derivative_filtered;
msg_newer.throttle_filtered = msg_older.throttle_filtered;
msg_newer.pitch_filtered = msg_older.pitch_filtered;
}
static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
// Set msg_older from msg_newer
msg_older.timestamp = msg_newer.timestamp;
msg_older.indicated_airspeed_m_s = msg_newer.indicated_airspeed_m_s;
msg_older.calibrated_airspeed_m_s = msg_newer.calibrated_airspeed_m_s;
msg_older.true_airspeed_m_s = msg_newer.true_airspeed_m_s;
msg_older.calibrated_ground_minus_wind_m_s = msg_newer.calibrated_ground_minus_wind_m_s;
msg_older.true_ground_minus_wind_m_s = msg_newer.calibrated_ground_minus_wind_m_s;
msg_older.airspeed_sensor_measurement_valid = msg_newer.airspeed_source > 0 && msg_newer.airspeed_source <= 3;
msg_older.selected_airspeed_index = msg_newer.airspeed_source;
msg_older.airspeed_derivative_filtered = msg_newer.airspeed_derivative_filtered;
msg_older.throttle_filtered = msg_newer.throttle_filtered;
msg_older.pitch_filtered = msg_newer.pitch_filtered;
}
};
REGISTER_TOPIC_TRANSLATION_DIRECT(AirspeedValidatedV1Translation);

24
msg/versioned/AirspeedValidated.msg
View File

@ -1,18 +1,22 @@
uint32 MESSAGE_VERSION = 0
uint32 MESSAGE_VERSION = 1
uint64 timestamp # time since system start (microseconds)
float32 indicated_airspeed_m_s # indicated airspeed in m/s (IAS), set to NAN if invalid
float32 calibrated_airspeed_m_s # calibrated airspeed in m/s (CAS, accounts for instrumentation errors), set to NAN if invalid
float32 true_airspeed_m_s # true filtered airspeed in m/s (TAS), set to NAN if invalid
float32 indicated_airspeed_m_s # [m/s] Indicated airspeed (IAS), set to NAN if invalid
float32 calibrated_airspeed_m_s # [m/s] Calibrated airspeed (CAS), set to NAN if invalid
float32 true_airspeed_m_s # [m/s] True airspeed (TAS), set to NAN if invalid
int8 airspeed_source # Source of currently published airspeed values
int8 DISABLED = -1
int8 GROUND_MINUS_WIND = 0
int8 SENSOR_1 = 1
int8 SENSOR_2 = 2
int8 SENSOR_3 = 3
int8 SYNTHETIC = 4
# debug states
float32 calibrated_ground_minus_wind_m_s # CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid
float32 true_ground_minus_wind_m_s # TAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid
bool airspeed_sensor_measurement_valid # True if data from at least one airspeed sensor is declared valid.
int8 selected_airspeed_index # 1-3: airspeed sensor index, 0: groundspeed-windspeed, -1: airspeed invalid
float32 calibraded_airspeed_synth_m_s # synthetic airspeed in m/s, set to NAN if invalid
float32 airspeed_derivative_filtered # filtered indicated airspeed derivative [m/s/s]
float32 throttle_filtered # filtered fixed-wing throttle [-]
float32 pitch_filtered # filtered pitch [rad]

4
src/drivers/osd/msp_osd/uorb_to_msp.cpp
View File

@ -267,9 +267,9 @@ msp_raw_gps_t construct_RAW_GPS(const sensor_gps_s &vehicle_gps_position,
//raw_gps.hdop = vehicle_gps_position_struct.hdop
raw_gps.numSat = vehicle_gps_position.satellites_used;
if (airspeed_validated.airspeed_sensor_measurement_valid
if (airspeed_validated.airspeed_source >= airspeed_validated_s::GROUND_MINUS_WIND
&& PX4_ISFINITE(airspeed_validated.indicated_airspeed_m_s)
&& airspeed_validated.indicated_airspeed_m_s > 0) {
&& airspeed_validated.indicated_airspeed_m_s > 0.f) {
raw_gps.groundSpeed = airspeed_validated.indicated_airspeed_m_s * 100;
} else {

5
src/lib/airspeed/airspeed.cpp
View File

@ -214,3 +214,8 @@ float calc_calibrated_from_true_airspeed(float speed_true, float air_density)
{
return speed_true * sqrtf(air_density / kAirDensitySeaLevelStandardAtmos);
}
float calc_true_from_calibrated_airspeed(float speed_calibrated, float air_density)
{
return speed_calibrated * sqrtf(kAirDensitySeaLevelStandardAtmos / air_density);
}

2
src/lib/airspeed/airspeed.h
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@ -137,6 +137,8 @@ __EXPORT float calc_TAS(float total_pressure, float static_pressure, float tempe
*/
__EXPORT float calc_calibrated_from_true_airspeed(float speed_true, float air_density);
__EXPORT float calc_true_from_calibrated_airspeed(float speed_calibrated, float air_density);
__END_DECLS
#endif

8
src/lib/parameters/param_translation.cpp
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@ -142,5 +142,13 @@ param_modify_on_import_ret param_modify_on_import(bson_node_t node)
}
}
// 2025-03-19: translate ASPD_FALLBACK_GW to ASPD_FALLBACK
{
if (strcmp("ASPD_FALLBACK_GW", node->name) == 0) {
strcpy(node->name, "ASPD_FALLBACK");
PX4_INFO("copying %s -> %s", "ASPD_FALLBACK_GW", "ASPD_FALLBACK");
}
}
return param_modify_on_import_ret::PARAM_NOT_MODIFIED;
}

9
src/modules/airspeed_selector/AirspeedValidator.cpp
View File

@ -60,7 +60,7 @@ AirspeedValidator::update_airspeed_validator(const airspeed_validator_update_dat
check_load_factor(input_data.accel_z);
check_airspeed_innovation(input_data.timestamp, input_data.vel_test_ratio, input_data.hdg_test_ratio,
input_data.ground_velocity, input_data.gnss_valid);
check_first_principle(input_data.timestamp, input_data.fixed_wing_tecs_throttle,
check_first_principle(input_data.timestamp, input_data.fixed_wing_throttle_filtered,
input_data.fixed_wing_tecs_throttle_trim, input_data.tecs_timestamp, input_data.q_att);
update_airspeed_valid_status(input_data.timestamp);
}
@ -298,31 +298,28 @@ AirspeedValidator::check_first_principle(const uint64_t timestamp, const float t
return;
}
const float dt = static_cast<float>(timestamp - _time_last_first_principle_check) / 1_s;
const float dt = static_cast<float>(timestamp - _time_last_first_principle_check) * 1e-6f;
_time_last_first_principle_check = timestamp;
// update filters
if (dt < FLT_EPSILON || dt > 1.f) {
// reset if dt is too large
_IAS_derivative.reset(0.f);
_throttle_filtered.reset(throttle_fw);
_pitch_filtered.reset(pitch);
_time_last_first_principle_check_passing = timestamp;
} else {
// update filters, with different time constant
_IAS_derivative.setParameters(dt, 5.f);
_throttle_filtered.setParameters(dt, 0.5f);
_pitch_filtered.setParameters(dt, 1.5f);
_IAS_derivative.update(_IAS);
_throttle_filtered.update(throttle_fw);
_pitch_filtered.update(pitch);
}
// declare high throttle if more than 5% above trim
const float high_throttle_threshold = math::min(throttle_trim + kHighThrottleDelta, _param_throttle_max);
const bool high_throttle = _throttle_filtered.getState() > high_throttle_threshold;
const bool high_throttle = throttle_fw > high_throttle_threshold;
const bool pitching_down = _pitch_filtered.getState() < _param_psp_off;
// check if the airspeed derivative is too low given the throttle and pitch

4
src/modules/airspeed_selector/AirspeedValidator.hpp
View File

@ -68,7 +68,7 @@ struct airspeed_validator_update_data {
float vel_test_ratio;
float hdg_test_ratio;
bool in_fixed_wing_flight;
float fixed_wing_tecs_throttle;
float fixed_wing_throttle_filtered;
float fixed_wing_tecs_throttle_trim;
uint64_t tecs_timestamp;
};
@ -89,7 +89,6 @@ public:
bool get_airspeed_valid() { return _airspeed_valid; }
float get_CAS_scale_validated() {return _CAS_scale_validated;}
float get_airspeed_derivative() { return _IAS_derivative.getState(); }
float get_throttle_filtered() { return _throttle_filtered.getState(); }
float get_pitch_filtered() { return _pitch_filtered.getState(); }
airspeed_wind_s get_wind_estimator_states(uint64_t timestamp);
@ -181,7 +180,6 @@ private:
bool _first_principle_check_failed{false}; ///< first principle check has detected failure
float _aspd_fp_t_window{0.f}; ///< time window for first principle check
FilteredDerivative<float> _IAS_derivative; ///< indicated airspeed derivative for first principle check
AlphaFilter<float> _throttle_filtered; ///< filtered throttle for first principle check
AlphaFilter<float> _pitch_filtered; ///< filtered pitch for first principle check
hrt_abstime _time_last_first_principle_check{0}; ///< time airspeed first principle was last checked (uSec)
hrt_abstime _time_last_first_principle_check_passing{0}; ///< time airspeed first principle was last passing (uSec)

130
src/modules/airspeed_selector/airspeed_selector_main.cpp
View File

@ -44,6 +44,7 @@
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <lib/airspeed/airspeed.h>
#include <lib/systemlib/mavlink_log.h>
#include <lib/mathlib/math/filter/AlphaFilter.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionInterval.hpp>
@ -65,12 +66,14 @@
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vtol_vehicle_status.h>
#include <uORB/topics/vehicle_thrust_setpoint.h>
#include <uORB/topics/airspeed_wind.h>
#include <uORB/topics/flight_phase_estimation.h>
using namespace time_literals;
static constexpr uint32_t SCHEDULE_INTERVAL{100_ms}; /**< The schedule interval in usec (10 Hz) */
static constexpr float _kThrottleFilterTimeConstant{0.5f};
using matrix::Dcmf;
using matrix::Quatf;
@ -128,6 +131,7 @@ private:
uORB::Subscription _position_setpoint_sub{ORB_ID(position_setpoint)};
uORB::Subscription _launch_detection_status_sub{ORB_ID(launch_detection_status)};
uORB::SubscriptionMultiArray<airspeed_s, MAX_NUM_AIRSPEED_SENSORS> _airspeed_subs{ORB_ID::airspeed};
uORB::SubscriptionData<flight_phase_estimation_s> _flight_phase_estimation_sub{ORB_ID(flight_phase_estimation)};
tecs_status_s _tecs_status {};
@ -177,6 +181,9 @@ private:
param_t _param_handle_fw_thr_max{PARAM_INVALID};
float _param_fw_thr_max{0.0f};
AlphaFilter<float> _throttle_filtered{_kThrottleFilterTimeConstant};
uint64_t _t_last_throttle_fw{0};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::ASPD_WIND_NSD>) _param_aspd_wind_nsd,
(ParamFloat<px4::params::ASPD_SCALE_NSD>) _param_aspd_scale_nsd,
@ -190,7 +197,7 @@ private:
(ParamFloat<px4::params::ASPD_SCALE_3>) _param_airspeed_scale_3,
(ParamInt<px4::params::ASPD_PRIMARY>) _param_airspeed_primary_index,
(ParamInt<px4::params::ASPD_DO_CHECKS>) _param_airspeed_checks_on,
(ParamInt<px4::params::ASPD_FALLBACK_GW>) _param_airspeed_fallback_gw,
(ParamInt<px4::params::ASPD_FALLBACK>) _param_airspeed_fallback,
(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 */
@ -202,7 +209,12 @@ private:
// external parameters
(ParamFloat<px4::params::FW_AIRSPD_STALL>) _param_fw_airspd_stall,
(ParamFloat<px4::params::FW_AIRSPD_TRIM>) _param_fw_airspd_trim
(ParamFloat<px4::params::FW_AIRSPD_MIN>) _param_fw_airspd_min,
(ParamFloat<px4::params::FW_AIRSPD_TRIM>) _param_fw_airspd_trim,
(ParamFloat<px4::params::FW_AIRSPD_MAX>) _param_fw_airspd_max,
(ParamFloat<px4::params::FW_THR_ASPD_MIN>) _param_fw_thr_aspd_min,
(ParamFloat<px4::params::FW_THR_TRIM>) _param_fw_thr_trim,
(ParamFloat<px4::params::FW_THR_ASPD_MAX>) _param_fw_thr_aspd_max
)
void init(); /**< initialization of the airspeed validator instances */
@ -212,6 +224,8 @@ private:
void update_wind_estimator_sideslip(); /**< update the wind estimator instance only fusing sideslip */
void update_ground_minus_wind_airspeed(); /**< update airspeed estimate based on groundspeed minus windspeed */
void select_airspeed_and_publish(); /**< select airspeed sensor (or groundspeed-windspeed) */
float get_synthetic_airspeed(float throttle);
void update_throttle_filter(hrt_abstime t_now);
};
AirspeedModule::AirspeedModule():
@ -350,6 +364,7 @@ AirspeedModule::Run()
poll_topics();
update_wind_estimator_sideslip();
update_ground_minus_wind_airspeed();
update_throttle_filter(_time_now_usec);
if (_number_of_airspeed_sensors > 0) {
@ -375,7 +390,7 @@ AirspeedModule::Run()
input_data.vel_test_ratio = _estimator_status.vel_test_ratio;
input_data.hdg_test_ratio = _estimator_status.hdg_test_ratio;
input_data.tecs_timestamp = _tecs_status.timestamp;
input_data.fixed_wing_tecs_throttle = _tecs_status.throttle_sp;
input_data.fixed_wing_throttle_filtered = _throttle_filtered.getState();
input_data.fixed_wing_tecs_throttle_trim = _tecs_status.throttle_trim;
// iterate through all airspeed sensors, poll new data from them and update their validators
@ -653,6 +668,11 @@ void AirspeedModule::select_airspeed_and_publish()
|| _param_airspeed_primary_index.get() == static_cast<int>(AirspeedSource::GROUND_MINUS_WIND))) {
_valid_airspeed_src = AirspeedSource::GROUND_MINUS_WIND;
} else if ((_param_airspeed_fallback.get() == 2
|| _param_airspeed_primary_index.get() == static_cast<int>(AirspeedSource::SYNTHETIC))
&& _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
_valid_airspeed_src = AirspeedSource::SYNTHETIC;
} else {
_valid_airspeed_src = AirspeedSource::DISABLED;
@ -691,35 +711,34 @@ void AirspeedModule::select_airspeed_and_publish()
"Airspeed estimation valid");
} else {
mavlink_log_info(&_mavlink_log_pub, "Airspeed sensor healthy, start using again (%i, %i)\t", _prev_airspeed_index,
_valid_airspeed_index);
mavlink_log_critical(&_mavlink_log_pub, "Airspeed sensor healthy, start using again (%i, %i)\t", prev_airspeed_index,
valid_airspeed_index);
/* EVENT
* @description Previously selected sensor index: {1}, current sensor index: {2}.
*/
events::send<uint8_t, uint8_t>(events::ID("airspeed_selector_estimation_regain"), events::Log::Info,
"Airspeed sensor healthy, start using again", _prev_airspeed_index,
_valid_airspeed_index);
events::send<uint8_t, uint8_t>(events::ID("airspeed_selector_estimation_regain"), events::Log::Critical,
"Airspeed sensor healthy, start using again", prev_airspeed_index,
valid_airspeed_index);
}
}
_prev_airspeed_index = _valid_airspeed_index;
_prev_number_of_airspeed_sensors = _number_of_airspeed_sensors;
airspeed_validated_s airspeed_validated = {};
airspeed_validated.timestamp = _time_now_usec;
airspeed_validated.true_ground_minus_wind_m_s = NAN;
airspeed_validated.calibrated_ground_minus_wind_m_s = NAN;
airspeed_validated.calibraded_airspeed_synth_m_s = NAN;
airspeed_validated.indicated_airspeed_m_s = NAN;
airspeed_validated.calibrated_airspeed_m_s = NAN;
airspeed_validated.true_airspeed_m_s = NAN;
airspeed_validated.airspeed_sensor_measurement_valid = false;
airspeed_validated.selected_airspeed_index = _valid_airspeed_index;
airspeed_validated.airspeed_derivative_filtered = _airspeed_validator[_valid_airspeed_index -
1].get_airspeed_derivative();
airspeed_validated.throttle_filtered = _airspeed_validator[_valid_airspeed_index - 1].get_throttle_filtered();
airspeed_validated.pitch_filtered = _airspeed_validator[_valid_airspeed_index - 1].get_pitch_filtered();
airspeed_validated.airspeed_derivative_filtered = _airspeed_validator[valid_airspeed_index -
1].get_airspeed_derivative();
airspeed_validated.throttle_filtered = _throttle_filtered.getState();
airspeed_validated.pitch_filtered = _airspeed_validator[valid_airspeed_index - 1].get_pitch_filtered();
airspeed_validated.airspeed_source = valid_airspeed_index;
_prev_airspeed_src = _valid_airspeed_src;
switch (_valid_airspeed_src) {
case AirspeedSource::DISABLED:
@ -730,17 +749,28 @@ void AirspeedModule::select_airspeed_and_publish()
airspeed_validated.calibrated_airspeed_m_s = _ground_minus_wind_CAS;
airspeed_validated.true_airspeed_m_s = _ground_minus_wind_TAS;
airspeed_validated.calibrated_ground_minus_wind_m_s = _ground_minus_wind_CAS;
airspeed_validated.true_ground_minus_wind_m_s = _ground_minus_wind_TAS;
airspeed_validated.calibraded_airspeed_synth_m_s = get_synthetic_airspeed(airspeed_validated.throttle_filtered);
break;
case AirspeedSource::SYNTHETIC: {
airspeed_validated.throttle_filtered = _throttle_filtered.getState();
airspeed_validated.pitch_filtered = _airspeed_validator[0].get_pitch_filtered();
float synthetic_airspeed = get_synthetic_airspeed(airspeed_validated.throttle_filtered);
airspeed_validated.calibrated_airspeed_m_s = synthetic_airspeed;
airspeed_validated.indicated_airspeed_m_s = synthetic_airspeed;
airspeed_validated.calibraded_airspeed_synth_m_s = synthetic_airspeed;
airspeed_validated.true_airspeed_m_s =
calc_true_from_calibrated_airspeed(synthetic_airspeed, _vehicle_air_data.rho);
break;
}
default:
airspeed_validated.indicated_airspeed_m_s = _airspeed_validator[_valid_airspeed_index - 1].get_IAS();
airspeed_validated.calibrated_airspeed_m_s = _airspeed_validator[_valid_airspeed_index - 1].get_CAS();
airspeed_validated.true_airspeed_m_s = _airspeed_validator[_valid_airspeed_index - 1].get_TAS();
airspeed_validated.indicated_airspeed_m_s = _airspeed_validator[valid_airspeed_index - 1].get_IAS();
airspeed_validated.calibrated_airspeed_m_s = _airspeed_validator[valid_airspeed_index - 1].get_CAS();
airspeed_validated.true_airspeed_m_s = _airspeed_validator[valid_airspeed_index - 1].get_TAS();
airspeed_validated.calibrated_ground_minus_wind_m_s = _ground_minus_wind_CAS;
airspeed_validated.true_ground_minus_wind_m_s = _ground_minus_wind_TAS;
airspeed_validated.airspeed_sensor_measurement_valid = true;
airspeed_validated.calibraded_airspeed_synth_m_s = get_synthetic_airspeed(airspeed_validated.throttle_filtered);
break;
}
@ -767,6 +797,60 @@ void AirspeedModule::select_airspeed_and_publish()
}
float AirspeedModule::get_synthetic_airspeed(float throttle)
{
float synthetic_airspeed;
_flight_phase_estimation_sub.update();
flight_phase_estimation_s flight_phase_estimation = _flight_phase_estimation_sub.get();
if (flight_phase_estimation.flight_phase != flight_phase_estimation_s::FLIGHT_PHASE_LEVEL
|| _time_now_usec - flight_phase_estimation.timestamp > 1_s) {
synthetic_airspeed = _param_fw_airspd_trim.get();
} else if (throttle < _param_fw_thr_trim.get() && _param_fw_thr_aspd_min.get() > 0.f) {
synthetic_airspeed = interpolate(throttle, _param_fw_thr_aspd_min.get(),
_param_fw_thr_trim.get(),
_param_fw_airspd_min.get(), _param_fw_airspd_trim.get());
} else if (throttle > _param_fw_thr_trim.get() && _param_fw_thr_aspd_max.get() > 0.f) {
synthetic_airspeed = interpolate(throttle, _param_fw_thr_trim.get(),
_param_fw_thr_aspd_max.get(),
_param_fw_airspd_trim.get(), _param_fw_airspd_max.get());
} else {
synthetic_airspeed = _param_fw_airspd_trim.get();
}
return synthetic_airspeed;
}
void AirspeedModule::update_throttle_filter(hrt_abstime now)
{
if (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
vehicle_thrust_setpoint_s vehicle_thrust_setpoint_0{};
_vehicle_thrust_setpoint_0_sub.copy(&vehicle_thrust_setpoint_0);
float forward_thrust = vehicle_thrust_setpoint_0.xyz[0];
// if VTOL, use the total thrust vector length (otherwise needs special handling for tailsitters and tiltrotors)
if (_vehicle_status.is_vtol) {
forward_thrust = sqrtf(vehicle_thrust_setpoint_0.xyz[0] * vehicle_thrust_setpoint_0.xyz[0] +
vehicle_thrust_setpoint_0.xyz[1] * vehicle_thrust_setpoint_0.xyz[1] +
vehicle_thrust_setpoint_0.xyz[2] * vehicle_thrust_setpoint_0.xyz[2]);
}
const float dt = static_cast<float>(now - _t_last_throttle_fw) * 1e-6f;
_t_last_throttle_fw = now;
if (dt < FLT_EPSILON || dt > 1.f) {
_throttle_filtered.reset(forward_thrust);
} else {
_throttle_filtered.update(forward_thrust, dt);
}
}
}
int AirspeedModule::custom_command(int argc, char *argv[])
{
if (!is_running()) {

14
src/modules/airspeed_selector/airspeed_selector_params.c
View File

@ -136,6 +136,7 @@ PARAM_DEFINE_FLOAT(ASPD_SCALE_3, 1.0f);
* @value 1 First airspeed sensor
* @value 2 Second airspeed sensor
* @value 3 Third airspeed sensor
* @value 4 Thrust based airspeed
*
* @reboot_required true
* @group Airspeed Validator
@ -160,17 +161,14 @@ PARAM_DEFINE_INT32(ASPD_PRIMARY, 1);
PARAM_DEFINE_INT32(ASPD_DO_CHECKS, 7);
/**
* Enable fallback to sensor-less airspeed estimation
* Fallback options
*
* If set to true and airspeed checks are enabled, it will use a sensor-less airspeed estimation based on groundspeed
* minus windspeed if no other airspeed sensor available to fall back to.
*
* @value 0 Disable fallback to sensor-less estimation
* @value 1 Enable fallback to sensor-less estimation
* @boolean
* @value 0 Fallback only to other airspeed sensors
* @value 1 Fallback to groundspeed-minus-windspeed airspeed estimation
* @value 2 Fallback to thrust based airspeed estimation
* @group Airspeed Validator
*/
PARAM_DEFINE_INT32(ASPD_FALLBACK_GW, 0);
PARAM_DEFINE_INT32(ASPD_FALLBACK, 0);
/**
* Airspeed failure innovation threshold