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AirspeedValidator: Remvoe airspeed variance after boot check (#20678)
This checks was introduced to catch the (unlikely) case of the driver publishing a stale value that is not actually from a current measurement right after boot. This was done by declaring it invalid if there is no update of the measurement within the first 10s after boot. Practice though has shown that around 0, many airspeed sensors have such a low resolution that the reported airspeed value is often at the exact same value for longer periods of time on totally healthy sensors, and thus we trigger some false positive failure detections. Given that this failure mode (driver publishing stale data) is quite rare (if it doesn't receive new data it should stop publishing), I remove this check here again. When in aerodynamic flight mode and armed, there is still the data stuck check that can trigger if there is no update for 2s. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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@@ -162,8 +162,7 @@ private:
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CHECK_TYPE_ONLY_DATA_MISSING_BIT = (1 << 0),
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CHECK_TYPE_DATA_STUCK_BIT = (1 << 1),
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CHECK_TYPE_INNOVATION_BIT = (1 << 2),
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CHECK_TYPE_LOAD_FACTOR_BIT = (1 << 3),
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CHECK_TYPE_DATA_VARIATION_BIT = (1 << 4)
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CHECK_TYPE_LOAD_FACTOR_BIT = (1 << 3)
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};
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DEFINE_PARAMETERS(
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@@ -480,8 +479,6 @@ void AirspeedModule::update_params()
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CheckTypeBits::CHECK_TYPE_INNOVATION_BIT);
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_airspeed_validator[i].set_enable_load_factor_check(_param_airspeed_checks_on.get() &
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CheckTypeBits::CHECK_TYPE_LOAD_FACTOR_BIT);
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_airspeed_validator[i].set_enable_data_variation_check(_param_airspeed_checks_on.get() &
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CheckTypeBits::CHECK_TYPE_DATA_VARIATION_BIT);
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}
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}
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