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Airspeed Selector: repurpose wind estimator into an airspeed (selection, validation) module.

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This new airspeed module does:
  -runns an airspeed validator for every airspeed sensor present, which checks measurement validity and estimates an airspeed scale
  -selects another airspeed sensor if for the current one a failure is detected
  -estimates airspeed with groundspeed-windspeed if no valid airspeed sensor is present
  -outputs airspeed_validated topic

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2019-08-07 13:06:00 +02:00
committed by Roman Bapst
parent 970e362e9a
commit cedf14e2ba
65 changed files with 767 additions and 461 deletions
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src/modules/ekf2/ekf2_main.cpp
+3 -2
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@@ -283,7 +283,7 @@ private:
uORB::Publication<sensor_bias_s> _sensor_bias_pub{ORB_ID(sensor_bias)};
uORB::Publication<vehicle_attitude_s> _att_pub{ORB_ID(vehicle_attitude)};
uORB::Publication<vehicle_odometry_s> _vehicle_odometry_pub{ORB_ID(vehicle_odometry)};
uORB::Publication<wind_estimate_s> _wind_pub{ORB_ID(wind_estimate)};
uORB::Publication<wind_estimate_s> _wind_pub{ORB_ID(wind_estimate), ORB_PRIO_DEFAULT};
uORB::PublicationData<vehicle_global_position_s> _vehicle_global_position_pub{ORB_ID(vehicle_global_position)};
uORB::PublicationData<vehicle_local_position_s> _vehicle_local_position_pub{ORB_ID(vehicle_local_position)};
@@ -1764,12 +1764,13 @@ bool Ekf2::publish_wind_estimate(const hrt_abstime &timestamp)
_ekf.get_wind_velocity_var(wind_var);
// Publish wind estimate
wind_estimate_s wind_estimate;
wind_estimate_s wind_estimate{};
wind_estimate.timestamp = timestamp;
wind_estimate.windspeed_north = velNE_wind[0];
wind_estimate.windspeed_east = velNE_wind[1];
wind_estimate.variance_north = wind_var[0];
wind_estimate.variance_east = wind_var[1];
wind_estimate.tas_scale = 1.0f; //fix to 1 as scale not estimated in ekf
_wind_pub.publish(wind_estimate);