ekf2: publish estimator_aid_src_airspeed

src/modules/ekf2/EKF/ekf.h

@@ -347,6 +347,8 @@ public:
 
 	const BaroBiasEstimator::status &getBaroBiasEstimatorStatus() const { return _baro_b_est.getStatus(); }
 
+	const auto &aid_src_airspeed() const { return _aid_src_airspeed; }
+
 	const auto &aid_src_baro_hgt() const { return _aid_src_baro_hgt; }
 	const auto &aid_src_rng_hgt() const { return _aid_src_rng_hgt; }
 

src/modules/ekf2/EKF2.cpp

@@ -638,6 +638,9 @@ void EKF2::Run()
 
 void EKF2::PublishAidSourceStatus(const hrt_abstime &timestamp)
 {
+	// airspeed
+	PublishAidSourceStatus(_ekf.aid_src_airspeed(), _status_airspeed_pub_last, _estimator_aid_src_airspeed_pub);
+
 	// baro height
 	PublishAidSourceStatus(_ekf.aid_src_baro_hgt(), _status_baro_hgt_pub_last, _estimator_aid_src_baro_hgt_pub);
 

src/modules/ekf2/EKF2.hpp

@@ -254,6 +254,8 @@ private:
 	hrt_abstime _last_sensor_bias_published{0};
 	hrt_abstime _last_gps_status_published{0};
 
+	hrt_abstime _status_airspeed_pub_last{0};
+
 	hrt_abstime _status_baro_hgt_pub_last{0};
 	hrt_abstime _status_rng_hgt_pub_last{0};
 
@@ -320,6 +322,7 @@ private:
 	uORB::PublicationMulti<vehicle_optical_flow_vel_s> _estimator_optical_flow_vel_pub{ORB_ID(estimator_optical_flow_vel)};
 	uORB::PublicationMulti<yaw_estimator_status_s>       _yaw_est_pub{ORB_ID(yaw_estimator_status)};
 
+	uORB::PublicationMulti<estimator_aid_source_1d_s> _estimator_aid_src_airspeed_pub{ORB_ID(estimator_aid_src_airspeed)};
 	uORB::PublicationMulti<estimator_aid_source_1d_s> _estimator_aid_src_baro_hgt_pub{ORB_ID(estimator_aid_src_baro_hgt)};
 	uORB::PublicationMulti<estimator_aid_source_1d_s> _estimator_aid_src_rng_hgt_pub{ORB_ID(estimator_aid_src_rng_hgt)};