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AirspeedValidator: check_airspeed_innovation() check absolute innovations

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Do no longer use tas_innovation from wind estimator and test ratio, but calculate
the innovation  based on wind estimate, TAS measurement (including currently applied scale)
and ground velocity. Use innovations directly to trigger failure.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-10-12 23:38:15 +02:00
parent f6d37ecacf
commit a2faac148f
5 changed files with 37 additions and 52 deletions
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src/modules/airspeed_selector/airspeed_selector_main.cpp
+4 -8
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@@ -505,14 +505,10 @@ void AirspeedModule::update_wind_estimator_sideslip()
}
_wind_estimate_sideslip.timestamp = _time_now_usec;
float wind[2];
_wind_estimator_sideslip.get_wind(wind);
_wind_estimate_sideslip.windspeed_north = wind[0];
_wind_estimate_sideslip.windspeed_east = wind[1];
float wind_cov[2];
_wind_estimator_sideslip.get_wind_var(wind_cov);
_wind_estimate_sideslip.variance_north = wind_cov[0];
_wind_estimate_sideslip.variance_east = wind_cov[1];
_wind_estimate_sideslip.windspeed_north = _wind_estimator_sideslip.get_wind()(0);
_wind_estimate_sideslip.windspeed_east = _wind_estimator_sideslip.get_wind()(1);
_wind_estimate_sideslip.variance_north = _wind_estimator_sideslip.get_wind_var()(0);
_wind_estimate_sideslip.variance_east = _wind_estimator_sideslip.get_wind_var()(1);
_wind_estimate_sideslip.tas_innov = NAN;
_wind_estimate_sideslip.tas_innov_var = NAN;
_wind_estimate_sideslip.beta_innov = _wind_estimator_sideslip.get_beta_innov();