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AirspeedValidator: Remove extra delay from airspeed innovation check (#23244)

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* AirspeedValidator: remove additional one second of hysteresis for triggering
innovation checks

- this check already uses an integrator and so adding more delay just makes
log analysis more difficult and does not really add any value

Signed-off-by: RomanBapst <bapstroman@gmail.com>

* removed unnecessary conditions

Signed-off-by: RomanBapst <bapstroman@gmail.com>

* AirspeedValidator: only disable innov checks if ASPD_FS_INTEG is negative

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

* get rid of unnecessary check on innovation threshold parameter

Signed-off-by: RomanBapst <bapstroman@gmail.com>

---------

Signed-off-by: RomanBapst <bapstroman@gmail.com>
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Roman Bapst
2024-06-11 14:09:36 +02:00
committed by GitHub
co-authored by Silvan Fuhrer
parent 9ececfdd65
commit 8ad93464c7
2 changed files with 2 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/airspeed_selector/AirspeedValidator.cpp
+2 -9
View File
@@ -222,16 +222,13 @@ AirspeedValidator::check_airspeed_innovation(uint64_t time_now, float estimator_
}
// reset states if check is disabled, we are not flying or wind estimator was just initialized/reset
if (!_innovation_check_enabled || !_in_fixed_wing_flight || (time_now - _time_wind_estimator_initialized) < 5_s
|| _tas_innov_integ_threshold <= 0.f) {
if (!_innovation_check_enabled || !_in_fixed_wing_flight || (time_now - _time_wind_estimator_initialized) < 5_s) {
_innovations_check_failed = false;
_time_last_tas_pass = time_now;
_aspd_innov_integ_state = 0.f;
} else if (!lpos_valid || estimator_status_vel_test_ratio > 1.f || estimator_status_mag_test_ratio > 1.f) {
//nav velocity data is likely not good
//don't run the test but don't reset the check if it had previously failed when nav velocity data was still likely good
_time_last_tas_pass = time_now;
_aspd_innov_integ_state = 0.f;
} else {
@@ -249,11 +246,7 @@ AirspeedValidator::check_airspeed_innovation(uint64_t time_now, float estimator_
_aspd_innov_integ_state = 0.f;
}
if (_tas_innov_integ_threshold > 0.f && _aspd_innov_integ_state < _tas_innov_integ_threshold) {
_time_last_tas_pass = time_now;
}
_innovations_check_failed = (time_now - _time_last_tas_pass) > TAS_INNOV_FAIL_DELAY;
_innovations_check_failed = _aspd_innov_integ_state > _tas_innov_integ_threshold;
}
_time_last_aspd_innov_check = time_now;
src/modules/airspeed_selector/AirspeedValidator.hpp
-2
View File
@@ -150,9 +150,7 @@ private:
float _tas_innov_threshold{1.0}; ///< innovation error threshold for triggering innovation check failure
float _tas_innov_integ_threshold{-1.0}; ///< integrator innovation error threshold for triggering innovation check failure
uint64_t _time_last_aspd_innov_check{0}; ///< time airspeed innovation was last checked (uSec)
uint64_t _time_last_tas_pass{0}; ///< last time innovation checks passed
float _aspd_innov_integ_state{0.0f}; ///< integral of excess normalised airspeed innovation (sec)
static constexpr uint64_t TAS_INNOV_FAIL_DELAY{1_s}; ///< time required for innovation levels to pass or fail (usec)
uint64_t _time_wind_estimator_initialized{0}; ///< time last time wind estimator was initialized (uSec)
// states of load factor check