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AirspeedWing: log the airspeed innovation test ratio

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- if the value exceeds 1, then airspeed checks will trigger
- useful to monitoring the check and tuning

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst 2025-06-17 09:22:32 +03:00
parent 59710b15ae
commit d468ec4e1d
2 changed files with 3 additions and 0 deletions
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1
msg/AirspeedWind.msg
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@ -9,6 +9,7 @@ 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_innov_integ_test_ratio # Value > 1 indicates that innovation failure check has triggered
float32 tas_scale_raw # Estimated true airspeed scale factor (not validated)
float32 tas_scale_raw_var # True airspeed scale factor variance

2
src/modules/airspeed_selector/AirspeedValidator.cpp
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@ -107,6 +107,8 @@ AirspeedValidator::get_wind_estimator_states(uint64_t timestamp)
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_validated;
wind_est.tas_innov_integ_test_ratio = _tas_innov_integ_threshold > FLT_EPSILON ? _aspd_innov_integ_state /
_tas_innov_integ_threshold : 0.f;
return wind_est;
}