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Airspeed selector: remove ASPD_STALL and replace by FW_AIRSPD_STALL

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-05-10 13:43:05 +02:00
parent 3b27864e53
commit c8ec6b3d08
8 changed files with 42 additions and 33 deletions
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src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.cpp
+3 -3
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@@ -184,10 +184,10 @@ bool PreFlightCheck::preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_statu
int32_t max_airspeed_check_en = 0;
param_get(param_find("COM_ARM_ARSP_EN"), &max_airspeed_check_en);
float airspeed_stall = 10.0f;
param_get(param_find("ASPD_STALL"), &airspeed_stall);
float airspeed_trim = 10.0f;
param_get(param_find("FW_AIRSPD_TRIM"), &airspeed_trim);
const float arming_max_airspeed_allowed = airspeed_stall / 2.0f; // set to half of stall speed
const float arming_max_airspeed_allowed = airspeed_trim / 2.0f; // set to half of trim airspeed
if (!airspeedCheck(mavlink_log_pub, status, optional, report_failures, prearm, (bool)max_airspeed_check_en,
arming_max_airspeed_allowed)
src/modules/commander/commander_params.c
+1 -1
View File
@@ -989,7 +989,7 @@ PARAM_DEFINE_FLOAT(COM_LKDOWN_TKO, 3.0f);
/**
* Enable preflight check for maximal allowed airspeed when arming.
*
* Deny arming if the current airspeed measurement is greater than half the stall speed (ASPD_STALL).
* Deny arming if the current airspeed measurement is greater than half the cruise airspeed (FW_AIRSPD_TRIM).
* Excessive airspeed measurements on ground are either caused by wind or bad airspeed calibration.
*
* @group Commander