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ekf2: prefer airspeed_validated over raw airspeed if available (#19159)

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* ekf2: prefer airspeed_validated over raw airspeed if available

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Daniel Agar
2022-02-14 15:37:29 +01:00
committed by GitHub
co-authored by Silvan Fuhrer
parent df0e402c44
commit b157afde6a
2 changed files with 59 additions and 22 deletions
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src/modules/ekf2/EKF2.hpp
+5 -1
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2015-2021 PX4 Development Team. All rights reserved.
* Copyright (c) 2015-2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -64,6 +64,7 @@
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/SubscriptionMultiArray.hpp>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/airspeed_validated.h>
#include <uORB/topics/distance_sensor.h>
#include <uORB/topics/ekf2_timestamps.h>
#include <uORB/topics/ekf_gps_drift.h>
@@ -190,6 +191,7 @@ private:
perf_counter_t _msg_missed_imu_perf{perf_alloc(PC_COUNT, MODULE_NAME": IMU message missed")};
perf_counter_t _msg_missed_air_data_perf{nullptr};
perf_counter_t _msg_missed_airspeed_perf{nullptr};
perf_counter_t _msg_missed_airspeed_validated_perf{nullptr};
perf_counter_t _msg_missed_distance_sensor_perf{nullptr};
perf_counter_t _msg_missed_gps_perf{nullptr};
perf_counter_t _msg_missed_landing_target_pose_perf{nullptr};
@@ -240,11 +242,13 @@ private:
float _last_baro_bias_published{};
float _airspeed_scale_factor{1.0f}; ///< scale factor correction applied to airspeed measurements
hrt_abstime _airspeed_validated_timestamp_last{0};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _airdata_sub{ORB_ID(vehicle_air_data)};
uORB::Subscription _airspeed_sub{ORB_ID(airspeed)};
uORB::Subscription _airspeed_validated_sub{ORB_ID(airspeed_validated)};
uORB::Subscription _ev_odom_sub{ORB_ID(vehicle_visual_odometry)};
uORB::Subscription _landing_target_pose_sub{ORB_ID(landing_target_pose)};
uORB::Subscription _magnetometer_sub{ORB_ID(vehicle_magnetometer)};