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AirspeedSelector: add _CAS_scale_validated to airspeed_wind for logging

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-10-22 17:00:35 +02:00
parent 625f556b0e
commit cad7851774
3 changed files with 10 additions and 6 deletions
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msg/airspeed_wind.msg
+4 -2
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@@ -10,8 +10,10 @@ float32 variance_east # Wind estimate error variance in east / Y direction (m/s
float32 tas_innov # True airspeed innovation
float32 tas_innov_var # True airspeed innovation variance
float32 tas_scale # Estimated true airspeed scale factor
float32 tas_scale_var # True airspeed scale factor variance
float32 tas_scale_raw # Estimated true airspeed scale factor (not validated)
float32 tas_scale_raw_var # True airspeed scale factor variance
float32 tas_scale_validated # Estimated true airspeed scale factor after validation
float32 beta_innov # Sideslip measurement innovation
float32 beta_innov_var # Sideslip measurement innovation variance
src/modules/airspeed_selector/AirspeedValidator.cpp
+3 -2
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@@ -110,8 +110,9 @@ AirspeedValidator::get_wind_estimator_states(uint64_t timestamp)
wind_est.tas_innov_var = _wind_estimator.get_tas_innov_var();
wind_est.beta_innov = _wind_estimator.get_beta_innov();
wind_est.beta_innov_var = _wind_estimator.get_beta_innov_var();
wind_est.tas_scale = _wind_estimator.get_tas_scale();
wind_est.tas_scale_var = _wind_estimator.get_tas_scale_var();
wind_est.tas_scale_raw = _wind_estimator.get_tas_scale();
wind_est.tas_scale_raw_var = _wind_estimator.get_tas_scale_var();
wind_est.tas_scale_validated = _CAS_scale_estimated;
return wind_est;
}
src/modules/airspeed_selector/airspeed_selector_main.cpp
+3 -2
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@@ -517,8 +517,9 @@ void AirspeedModule::update_wind_estimator_sideslip()
_wind_estimate_sideslip.tas_innov_var = NAN;
_wind_estimate_sideslip.beta_innov = _wind_estimator_sideslip.get_beta_innov();
_wind_estimate_sideslip.beta_innov_var = _wind_estimator_sideslip.get_beta_innov_var();
_wind_estimate_sideslip.tas_scale = NAN;
_wind_estimate_sideslip.tas_scale_var = NAN;
_wind_estimate_sideslip.tas_scale_raw = NAN;
_wind_estimate_sideslip.tas_scale_raw_var = NAN;
_wind_estimate_sideslip.tas_scale_validated = NAN;
_wind_estimate_sideslip.source = airspeed_wind_s::SOURCE_AS_BETA_ONLY;
}