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added airspeed mode enum to control state topic

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Signed-off-by: Roman <bapstr@ethz.ch>
This commit is contained in:
Roman
2016-06-23 09:08:35 +02:00
parent 22db94e352
commit 7f8c183d99
5 changed files with 34 additions and 28 deletions
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src/modules/ekf2/ekf2_main.cpp
+12 -12
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@@ -665,24 +665,24 @@ void Ekf2::task_main()
ctrl_state.airspeed_valid = false;
// use estimated velocity for airspeed estimate
if (_airspeed_mode.get() == 1) {
if (_ekf.local_position_is_valid()) {
ctrl_state.airspeed = sqrtf(vel[0] * vel[0] + vel[1] * vel[1] + vel[2] * vel[2]);
}
// do nothing, airspeed has been declared as non-valid above, controllers will handle this assuming always trim airspeed
} else if (_airspeed_mode.get() == 2) {
// use the measured airspeed
} else {
/* Airspeed - take airspeed measurement directly here as no wind is estimated */
if (_airspeed_mode.get() == control_state_s::AIRSPD_MODE_MEAS) {
// use measured airspeed
if (PX4_ISFINITE(airspeed.indicated_airspeed_m_s) && hrt_absolute_time() - airspeed.timestamp < 1e6
&& airspeed.timestamp > 0) {
ctrl_state.airspeed = airspeed.indicated_airspeed_m_s;
ctrl_state.airspeed_valid = true;
}
}
if (_airspeed_mode.get() == control_state_s::AIRSPD_MODE_EST) {
if (_ekf.local_position_is_valid()) {
ctrl_state.airspeed = sqrtf(vel[0] * vel[0] + vel[1] * vel[1] + vel[2] * vel[2]);
ctrl_state.airspeed_valid = true;
}
} else if (_airspeed_mode.get() == control_state_s::AIRSPD_MODE_DISABLED) {
// do nothing, airspeed has been declared as non-valid above, controllers
// will handle this assuming always trim airspeed
}
// publish control state data
if (_control_state_pub == nullptr) {