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Improve robustness to bad and lost airspeed data (#11846)

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Daniel Agar
2019-04-30 03:08:23 -04:00
committed by GitHub
parent 59ebb9af0a
commit 9bad61b86b
6 changed files with 405 additions and 6 deletions
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msg/vehicle_status.msg
+8
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@@ -85,3 +85,11 @@ uint8 failure_detector_status # Bitmask containing FailureDetector status [0,
uint32 onboard_control_sensors_present
uint32 onboard_control_sensors_enabled
uint32 onboard_control_sensors_health
# airspeed fault and airspeed use status
float32 arspd_check_level # integrated airspeed inconsistency as checked against the COM_TAS_FS_INTEG parameter
bool aspd_check_failing # true when airspeed consistency checks are failing
bool aspd_fault_declared # true when an airspeed fault has been declared
bool aspd_use_inhibit # true if switching to a non-airspeed control mode has been requested
bool aspd_fail_rtl # true if airspeed failure invoked RTL has been requested
float32 load_factor_ratio # ratio of measured to aerodynamic load factor limit. Greater than 1 indicates airspeed low error condition.