From 890ae36e78033db9164232529b50a841e1e2e1ed Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Thu, 6 Jul 2023 11:46:44 -0400 Subject: [PATCH] airspeed_selector: new ASPD_SEL_EN to control enabling/disabling module --- ROMFS/px4fmu_common/init.d/rc.fw_apps | 6 +++++- ROMFS/px4fmu_common/init.d/rc.vtol_apps | 5 ++++- src/modules/airspeed_selector/airspeed_selector_params.c | 8 ++++++++ 3 files changed, 17 insertions(+), 2 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_apps b/ROMFS/px4fmu_common/init.d/rc.fw_apps index f3c559298e..d73d59b519 100644 --- a/ROMFS/px4fmu_common/init.d/rc.fw_apps +++ b/ROMFS/px4fmu_common/init.d/rc.fw_apps @@ -21,7 +21,11 @@ control_allocator start fw_rate_control start fw_att_control start fw_pos_control start -airspeed_selector start + +if param greater -s ASPD_SEL_EN 0 +then + airspeed_selector start +fi # # Start attitude control auto-tuner diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_apps b/ROMFS/px4fmu_common/init.d/rc.vtol_apps index fdc16af83d..7827af8a26 100644 --- a/ROMFS/px4fmu_common/init.d/rc.vtol_apps +++ b/ROMFS/px4fmu_common/init.d/rc.vtol_apps @@ -20,7 +20,10 @@ ekf2 start & # control_allocator start -airspeed_selector start +if param greater -s ASPD_SEL_EN 0 +then + airspeed_selector start +fi vtol_att_control start diff --git a/src/modules/airspeed_selector/airspeed_selector_params.c b/src/modules/airspeed_selector/airspeed_selector_params.c index cdbeeb2162..4e91cde2d1 100644 --- a/src/modules/airspeed_selector/airspeed_selector_params.c +++ b/src/modules/airspeed_selector/airspeed_selector_params.c @@ -1,4 +1,12 @@ +/** + * Airspeed validator/selector enable + * + * @boolean + * @group Airspeed Validator + */ +PARAM_DEFINE_INT32(ASPD_SEL_EN, 1); + /** * Airspeed Selector: Wind estimator wind process noise noise spectral density *