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AirspeedSelector: do checks for data stopped in airspeed selector, not validator

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-01-22 14:16:22 +01:00
parent 7132e674d6
commit aecc0aa0c3
3 changed files with 26 additions and 23 deletions
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src/lib/airspeed_validator/AirspeedValidator.hpp
+4 -7
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@@ -78,6 +78,8 @@ public:
void update_airspeed_validator(const airspeed_validator_update_data &input_data);
void reset_airspeed_to_invalid(const uint64_t timestamp);
float get_IAS() { return _IAS; }
float get_CAS() { return _CAS; }
float get_TAS() { return _TAS; }
@@ -125,12 +127,6 @@ private:
float _TAS{0.0f}; ///< true airspeed in m/s
float _CAS_scale{1.0f}; ///< scale factor from IAS to CAS
uint64_t _time_last_airspeed{0}; ///< time last airspeed measurement was received (uSec)
// states of data stopped check
bool _data_stopped_failed{false}; ///< data_stopp check has detected failure
hrt_abstime _previous_airspeed_timestamp{0}; ///< timestamp from previous measurement input, to check validity of measurement
// states of innovation check
float _tas_gate{1.0f}; ///< gate size of airspeed innovation (to calculate tas_test_ratio)
bool _innovations_check_failed{false}; ///< true when airspeed innovations have failed consistency checks
@@ -149,7 +145,7 @@ private:
float _load_factor_ratio{0.5f}; ///< ratio of maximum load factor predicted by stall speed to measured load factor
// states of airspeed valid declaration
bool _airspeed_valid{false}; ///< airspeed valid (pitot or groundspeed-windspeed)
bool _airspeed_valid{true}; ///< airspeed valid (pitot or groundspeed-windspeed)
int _checks_fail_delay{3}; ///< delay for airspeed invalid declaration after single check failure (Sec)
int _checks_clear_delay{3}; ///< delay for airspeed valid declaration after all checks passed again (Sec)
uint64_t _time_checks_passed{0}; ///< time the checks have last passed (uSec)
@@ -167,5 +163,6 @@ private:
float estimator_status_mag_test_ratio);
void check_load_factor(float accel_z);
void update_airspeed_valid_status(const uint64_t timestamp);
void reset();
};