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WindEstimator: remove option to disable scale estimation

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The situation where this would be desired is unclear, plus it's basically
the same as setting ASPD_SC_P_NOISE to a very small value.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-10-22 17:00:35 +02:00
parent b38bf23d6e
commit 73fe300c00
6 changed files with 8 additions and 25 deletions
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src/modules/airspeed_selector/AirspeedValidator.cpp
+1 -4
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@@ -177,13 +177,10 @@ AirspeedValidator::update_CAS_scale_applied()
/* fallthrough */
case 1:
/* fallthrough */
case 2:
_CAS_scale_applied = _tas_scale_init;
break;
case 3:
case 2:
_CAS_scale_applied = _CAS_scale_validated;
break;
}
src/modules/airspeed_selector/AirspeedValidator.hpp
-1
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@@ -115,7 +115,6 @@ public:
void set_tas_scale_apply(int tas_scale_apply) { _tas_scale_apply = tas_scale_apply; }
void set_CAS_scale_validated(float scale) { _CAS_scale_validated = scale; }
void set_scale_init(float scale) { _wind_estimator.set_scale_init(scale); }
void set_disable_tas_scale_estimate(bool disable_scale_est) {_wind_estimator.set_disable_tas_scale_estimate(disable_scale_est); }
private:
src/modules/airspeed_selector/airspeed_selector_main.cpp
+1 -2
View File
@@ -387,7 +387,7 @@ AirspeedModule::Run()
// save estimated airspeed scale after disarm
if (!armed && _armed_prev) {
if (_param_aspd_scale_apply.get() > 1) {
if (_param_aspd_scale_apply.get() > 0) {
if (fabsf(_airspeed_validator[i].get_CAS_scale_validated() - _param_airspeed_scale[i]) > 0.01f) {
// apply the new scale if changed more than 0.01
mavlink_log_info(&_mavlink_log_pub, "Airspeed sensor Nr. %d ASPD_SCALE updated: %.2f --> %.2f", i + 1,
@@ -460,7 +460,6 @@ void AirspeedModule::update_params()
_airspeed_validator[i].set_checks_fail_delay(_checks_fail_delay.get());
_airspeed_validator[i].set_checks_clear_delay(_checks_clear_delay.get());
_airspeed_validator[i].set_airspeed_stall(_param_fw_airspd_stall.get());
_airspeed_validator[i].set_disable_tas_scale_estimate(_param_aspd_scale_apply.get() == 0);
}
}
src/modules/airspeed_selector/airspeed_selector_params.c
+5 -6
View File
@@ -76,15 +76,14 @@ PARAM_DEFINE_INT32(ASPD_TAS_GATE, 3);
PARAM_DEFINE_INT32(ASPD_BETA_GATE, 1);
/**
* Controls when to apply the new estimated airspeed scale
* Controls when to apply the new estimated airspeed scale(s)
*
* @value 0 Disable airspeed scale estimation completely
* @value 1 Do not apply the new gains (logging and inside wind estimator)
* @value 2 Apply the new scale after disarm
* @value 3 Apply the new gains in air
* @value 0 Do not automatically apply the estimated scale
* @value 1 Apply the estimated scale after disarm
* @value 2 Apply the estimated scale in air
* @group Airspeed Validator
*/
PARAM_DEFINE_INT32(ASPD_SCALE_APPLY, 2);
PARAM_DEFINE_INT32(ASPD_SCALE_APPLY, 1);
/**
* Scale of airspeed sensor 1