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refactor(airspeed_selector): convert params.c to module.yaml
Convert 1 parameter file(s) from legacy C format to YAML module configuration.
This commit is contained in:
Jacob Dahl
Jacob Dahl
parent
50ba878e1e
commit
e95d1d1e8e
@ -37,6 +37,8 @@ px4_add_module(
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airspeed_selector_main.cpp
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AirspeedValidator.cpp
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AirspeedValidator.hpp
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MODULE_CONFIG
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airspeed_selector_params.yaml
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DEPENDS
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wind_estimator
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)
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@ -1,252 +0,0 @@
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/**
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* Wind estimator wind process noise spectral density
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*
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* Wind process noise of the internal wind estimator(s) of the airspeed selector.
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* When unaided, the wind estimate uncertainty (1-sigma, in m/s) increases by this amount every second.
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*
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* @min 0
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* @max 1
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* @unit m/s^2/sqrt(Hz)
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* @decimal 2
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* @group Airspeed Validator
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*/
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PARAM_DEFINE_FLOAT(ASPD_WIND_NSD, 1.e-1f);
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/**
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* Wind estimator true airspeed scale process noise spectral density
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*
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* Airspeed scale process noise of the internal wind estimator(s) of the airspeed selector.
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* When unaided, the scale uncertainty (1-sigma, unitless) increases by this amount every second.
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*
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* @min 0
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* @max 0.1
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* @unit 1/s/sqrt(Hz)
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* @decimal 5
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* @group Airspeed Validator
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*/
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PARAM_DEFINE_FLOAT(ASPD_SCALE_NSD, 1.e-4f);
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/**
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* Wind estimator true airspeed measurement noise
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*
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* True airspeed measurement noise of the internal wind estimator(s) of the airspeed selector.
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*
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* @min 0
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* @max 4
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* @unit m/s
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* @decimal 1
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* @group Airspeed Validator
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*/
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PARAM_DEFINE_FLOAT(ASPD_TAS_NOISE, 1.4f);
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/**
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* Wind estimator sideslip measurement noise
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*
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* Sideslip measurement noise of the internal wind estimator(s) of the airspeed selector.
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*
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* @min 0
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* @max 1
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* @unit rad
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* @decimal 3
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* @group Airspeed Validator
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*/
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PARAM_DEFINE_FLOAT(ASPD_BETA_NOISE, 0.15f);
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/**
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* Gate size for true airspeed fusion
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*
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* Sets the number of standard deviations used by the innovation consistency test.
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*
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* @min 1
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* @max 5
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* @unit SD
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* @group Airspeed Validator
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*/
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PARAM_DEFINE_INT32(ASPD_TAS_GATE, 4);
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/**
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* Gate size for sideslip angle fusion
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*
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* Sets the number of standard deviations used by the innovation consistency test.
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*
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* @min 1
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* @max 5
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* @unit SD
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* @group Airspeed Validator
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*/
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PARAM_DEFINE_INT32(ASPD_BETA_GATE, 1);
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/**
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* Controls when to apply the new estimated airspeed scale(s)
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*
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* @value 0 Do not automatically apply the estimated scale
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* @value 1 Apply the estimated scale after disarm
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* @value 2 Apply the estimated scale in air
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* @group Airspeed Validator
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*/
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PARAM_DEFINE_INT32(ASPD_SCALE_APPLY, 2);
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/**
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* Scale of airspeed sensor 1
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*
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* This is the scale IAS --> CAS of the first airspeed sensor instance
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*
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* @min 0.5
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* @max 2.0
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* @decimal 2
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* @group Airspeed Validator
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*/
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PARAM_DEFINE_FLOAT(ASPD_SCALE_1, 1.0f);
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/**
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* Scale of airspeed sensor 2
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*
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* This is the scale IAS --> CAS of the second airspeed sensor instance
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*
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* @min 0.5
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* @max 2.0
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* @decimal 2
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* @group Airspeed Validator
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*/
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PARAM_DEFINE_FLOAT(ASPD_SCALE_2, 1.0f);
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/**
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* Scale of airspeed sensor 3
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*
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* This is the scale IAS --> CAS of the third airspeed sensor instance
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*
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* @min 0.5
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* @max 2.0
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* @decimal 2
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* @group Airspeed Validator
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*/
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PARAM_DEFINE_FLOAT(ASPD_SCALE_3, 1.0f);
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/**
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* Index or primary airspeed measurement source
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*
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* @value 0 Groundspeed minus windspeed
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* @value 1 First airspeed sensor
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* @value 2 Second airspeed sensor
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* @value 3 Third airspeed sensor
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* @value 4 Thrust based airspeed
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*
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* @reboot_required true
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* @group Airspeed Validator
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*/
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PARAM_DEFINE_INT32(ASPD_PRIMARY, 1);
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/**
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* Enable checks on airspeed sensors
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*
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* Controls which checks are run to check airspeed data for validity. Only applied if ASPD_PRIMARY > 0.
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*
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* Note: The missing data check (bit 0) is implicitly always enabled when ASPD_DO_CHECKS > 0, even if bit 0 is not explicitly set.
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*
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* @min 0
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* @max 31
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* @bit 0 Only data missing check (triggers if more than 1s no data)
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* @bit 1 Data stuck (triggers if data is exactly constant for 2s in FW mode)
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* @bit 2 Innovation check (see ASPD_FS_INNOV)
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* @bit 3 Load factor check (triggers if measurement is below stall speed)
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* @bit 4 First principle check (airspeed change vs. throttle and pitch)
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* @group Airspeed Validator
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*/
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PARAM_DEFINE_INT32(ASPD_DO_CHECKS, 7);
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/**
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* Fallback options
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*
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* @value 0 Fallback only to other airspeed sensors
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* @value 1 Fallback to groundspeed-minus-windspeed airspeed estimation
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* @value 2 Fallback to thrust based airspeed estimation
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* @group Airspeed Validator
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*/
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PARAM_DEFINE_INT32(ASPD_FALLBACK, 0);
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/**
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* Airspeed failure innovation threshold
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*
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* This specifies the minimum airspeed innovation required to trigger a failsafe. Larger values make the check less sensitive,
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* smaller values make it more sensitive. Large innovations indicate an inconsistency between predicted (groundspeed - windspeeed)
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* and measured airspeed.
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* The time required to detect a fault when the threshold is exceeded depends on the size of the exceedance and is controlled by the ASPD_FS_INTEG parameter.
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*
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* @unit m/s
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* @min 0.5
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* @max 10.0
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* @decimal 1
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* @group Airspeed Validator
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*/
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PARAM_DEFINE_FLOAT(ASPD_FS_INNOV, 5.f);
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/**
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* Airspeed failure innovation integral threshold
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*
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* This sets the time integral of airspeed innovation exceedance above ASPD_FS_INNOV required to trigger a failsafe.
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* Larger values make the check less sensitive, smaller positive values make it more sensitive.
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*
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* @unit m
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* @min 0.0
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* @max 50.0
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* @decimal 1
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* @group Airspeed Validator
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*/
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PARAM_DEFINE_FLOAT(ASPD_FS_INTEG, 10.f);
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/**
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* Airspeed failsafe stop delay
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*
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* Delay before stopping use of airspeed sensor if checks indicate sensor is bad.
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*
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* @unit s
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* @group Airspeed Validator
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* @min 0.0
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* @decimal 1
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*/
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PARAM_DEFINE_FLOAT(ASPD_FS_T_STOP, 1.f);
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/**
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* Airspeed failsafe start delay
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*
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* Delay before switching back to using airspeed sensor if checks indicate sensor is good.
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* Set to a negative value to disable the re-enabling in flight.
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*
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* @unit s
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* @group Airspeed Validator
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* @min -1.0
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* @decimal 1
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*/
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PARAM_DEFINE_FLOAT(ASPD_FS_T_START, -1.f);
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/**
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* Horizontal wind uncertainty threshold for valid ground-minus-wind
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*
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* The airspeed alternative derived from groundspeed and heading will be declared valid
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* as soon and as long the horizontal wind uncertainty is below this value.
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*
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* @unit m/s
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* @min 0.01
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* @max 5
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* @decimal 2
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* @group Airspeed Validator
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*/
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PARAM_DEFINE_FLOAT(ASPD_WERR_THR, 2.f);
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/**
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* First principle airspeed check time window
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*
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* Window for comparing airspeed change to throttle and pitch change.
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* Triggers when the airspeed change within this window is negative while throttle increases
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* and the vehicle pitches down.
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* Is meant to catch degrading airspeed blockages as can happen when flying through icing conditions.
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* Relies on FW_THR_TRIM being set accurately.
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*
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* @unit s
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* @min 0
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* @decimal 1
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* @group Airspeed Validator
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*/
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PARAM_DEFINE_FLOAT(ASPD_FP_T_WINDOW, 2.0f);
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217
src/modules/airspeed_selector/airspeed_selector_params.yaml
Normal file
217
src/modules/airspeed_selector/airspeed_selector_params.yaml
Normal file
@ -0,0 +1,217 @@
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module_name: airspeed_selector
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parameters:
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- group: Airspeed Validator
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definitions:
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ASPD_WIND_NSD:
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description:
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short: Wind estimator wind process noise spectral density
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long: |-
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Wind process noise of the internal wind estimator(s) of the airspeed selector.
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When unaided, the wind estimate uncertainty (1-sigma, in m/s) increases by this amount every second.
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type: float
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default: 0.1
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min: 0
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max: 1
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unit: m/s^2/sqrt(Hz)
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decimal: 2
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ASPD_SCALE_NSD:
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description:
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short: Wind estimator true airspeed scale process noise spectral density
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long: |-
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Airspeed scale process noise of the internal wind estimator(s) of the airspeed selector.
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When unaided, the scale uncertainty (1-sigma, unitless) increases by this amount every second.
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type: float
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default: 0.0001
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min: 0
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max: 0.1
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unit: 1/s/sqrt(Hz)
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decimal: 5
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ASPD_TAS_NOISE:
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description:
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short: Wind estimator true airspeed measurement noise
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long: True airspeed measurement noise of the internal wind estimator(s) of
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the airspeed selector.
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type: float
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default: 1.4
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min: 0
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max: 4
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unit: m/s
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decimal: 1
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ASPD_BETA_NOISE:
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description:
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short: Wind estimator sideslip measurement noise
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long: Sideslip measurement noise of the internal wind estimator(s) of the
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airspeed selector.
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type: float
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default: 0.15
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min: 0
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max: 1
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unit: rad
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decimal: 3
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ASPD_TAS_GATE:
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description:
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short: Gate size for true airspeed fusion
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long: Sets the number of standard deviations used by the innovation consistency
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test.
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type: int32
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default: 4
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min: 1
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max: 5
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unit: SD
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ASPD_BETA_GATE:
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description:
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short: Gate size for sideslip angle fusion
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long: Sets the number of standard deviations used by the innovation consistency
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test.
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type: int32
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default: 1
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min: 1
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max: 5
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unit: SD
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ASPD_SCALE_APPLY:
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description:
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short: Controls when to apply the new estimated airspeed scale(s)
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type: enum
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values:
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0: Do not automatically apply the estimated scale
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1: Apply the estimated scale after disarm
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2: Apply the estimated scale in air
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default: 2
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ASPD_SCALE_1:
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description:
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short: Scale of airspeed sensor 1
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long: This is the scale IAS --> CAS of the first airspeed sensor instance
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type: float
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default: 1.0
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min: 0.5
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max: 2.0
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decimal: 2
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ASPD_SCALE_2:
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description:
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short: Scale of airspeed sensor 2
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long: This is the scale IAS --> CAS of the second airspeed sensor instance
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type: float
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default: 1.0
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min: 0.5
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max: 2.0
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decimal: 2
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ASPD_SCALE_3:
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description:
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short: Scale of airspeed sensor 3
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long: This is the scale IAS --> CAS of the third airspeed sensor instance
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type: float
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default: 1.0
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min: 0.5
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max: 2.0
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decimal: 2
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ASPD_PRIMARY:
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description:
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short: Index or primary airspeed measurement source
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type: enum
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values:
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0: Groundspeed minus windspeed
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1: First airspeed sensor
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2: Second airspeed sensor
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3: Third airspeed sensor
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4: Thrust based airspeed
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default: 1
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reboot_required: true
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ASPD_DO_CHECKS:
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description:
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short: Enable checks on airspeed sensors
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long: |-
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Controls which checks are run to check airspeed data for validity. Only applied if ASPD_PRIMARY > 0.
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Note: The missing data check (bit 0) is implicitly always enabled when ASPD_DO_CHECKS > 0, even if bit 0 is not explicitly set.
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type: bitmask
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bit:
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0: Only data missing check (triggers if more than 1s no data)
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1: Data stuck (triggers if data is exactly constant for 2s in FW mode)
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2: Innovation check (see ASPD_FS_INNOV)
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3: Load factor check (triggers if measurement is below stall speed)
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4: First principle check (airspeed change vs. throttle and pitch)
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default: 7
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min: 0
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max: 31
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ASPD_FALLBACK:
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description:
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short: Fallback options
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type: enum
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values:
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0: Fallback only to other airspeed sensors
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1: Fallback to groundspeed-minus-windspeed airspeed estimation
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2: Fallback to thrust based airspeed estimation
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default: 0
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ASPD_FS_INNOV:
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description:
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short: Airspeed failure innovation threshold
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long: |-
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This specifies the minimum airspeed innovation required to trigger a failsafe. Larger values make the check less sensitive,
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smaller values make it more sensitive. Large innovations indicate an inconsistency between predicted (groundspeed - windspeeed)
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and measured airspeed.
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The time required to detect a fault when the threshold is exceeded depends on the size of the exceedance and is controlled by the ASPD_FS_INTEG parameter.
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type: float
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default: 5.0
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unit: m/s
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min: 0.5
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max: 10.0
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decimal: 1
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ASPD_FS_INTEG:
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description:
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short: Airspeed failure innovation integral threshold
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long: |-
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This sets the time integral of airspeed innovation exceedance above ASPD_FS_INNOV required to trigger a failsafe.
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Larger values make the check less sensitive, smaller positive values make it more sensitive.
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type: float
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default: 10.0
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unit: m
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min: 0.0
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max: 50.0
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decimal: 1
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ASPD_FS_T_STOP:
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description:
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short: Airspeed failsafe stop delay
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long: Delay before stopping use of airspeed sensor if checks indicate sensor
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is bad.
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type: float
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default: 1.0
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unit: s
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min: 0.0
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decimal: 1
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ASPD_FS_T_START:
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description:
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short: Airspeed failsafe start delay
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long: |-
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Delay before switching back to using airspeed sensor if checks indicate sensor is good.
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Set to a negative value to disable the re-enabling in flight.
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type: float
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default: -1.0
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unit: s
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min: -1.0
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decimal: 1
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ASPD_WERR_THR:
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description:
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short: Horizontal wind uncertainty threshold for valid ground-minus-wind
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long: |-
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The airspeed alternative derived from groundspeed and heading will be declared valid
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as soon and as long the horizontal wind uncertainty is below this value.
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type: float
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default: 2.0
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unit: m/s
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min: 0.01
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max: 5
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decimal: 2
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ASPD_FP_T_WINDOW:
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description:
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short: First principle airspeed check time window
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long: |-
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Window for comparing airspeed change to throttle and pitch change.
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Triggers when the airspeed change within this window is negative while throttle increases
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and the vehicle pitches down.
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Is meant to catch degrading airspeed blockages as can happen when flying through icing conditions.
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Relies on FW_THR_TRIM being set accurately.
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type: float
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default: 2.0
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unit: s
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min: 0
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decimal: 1
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