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Airspeed Selector: enable airspeed_validated in control modules (#12887)

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* FW attitude controller, FW position controller and VTOL attitude controller subscribe to airspeed_validated topic
* add possibility to switch off the airspeed valid checks
* remove airspeed valid checks from commander
* clean up of VTOL transition logic
* Airspeed Selector: remove dynamic allocation of airspeed validators (depending on number of connected sensors) but do it statically for the maximum number allowed. Check for number of connected sensors not only during start up, but always when vehicle is disarmed.
* Airspeed Selector: change work queue from lp to att_pos_ctrl as this module is safety-critical
* add airspeed selector to px4_fmu-v2 defaults
This commit is contained in:
Silvan Fuhrer
2019-11-21 20:14:26 +01:00
committed by Daniel Agar
parent a46581987c
commit ebdc29bc5f
21 changed files with 381 additions and 571 deletions
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msg/airspeed_validated.msg
+4 -2
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@@ -4,7 +4,9 @@ float32 indicated_airspeed_m_s # indicated airspeed in m/s (IAS), set to NAN if
float32 equivalent_airspeed_m_s # equivalent airspeed in m/s (accounts for instrumentation errors) (EAS), set to NAN if invalid
float32 true_airspeed_m_s # true filtered airspeed in m/s (TAS), set to NAN if invalid
float32 equivalent_ground_minus_wind_m_s # EAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid
float32 true_ground_minus_wind_m_s # TAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid
float32 indicated_ground_minus_wind_m_s # IAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid
int8 selected_airspeed_index # 0-2: airspeed sensor index, -1: groundspeed-windspeed, -2: airspeed invalid
bool airspeed_sensor_measurement_valid # True if data from at least one airspeed sensor is declared valid.
int8 selected_airspeed_index # 1-3: airspeed sensor index, 0: groundspeed-windspeed, -1: airspeed invalid
msg/vehicle_status.msg
-8
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@@ -94,11 +94,3 @@ uint8 failure_detector_status # Bitmask containing FailureDetector status [0,
uint32 onboard_control_sensors_present
uint32 onboard_control_sensors_enabled
uint32 onboard_control_sensors_health
# airspeed fault and airspeed use status
float32 arspd_check_level # integrated airspeed inconsistency as checked against the COM_TAS_FS_INTEG parameter
bool aspd_check_failing # true when airspeed consistency checks are failing
bool aspd_fault_declared # true when an airspeed fault has been declared
bool aspd_use_inhibit # true if switching to a non-airspeed control mode has been requested
bool aspd_fail_rtl # true if airspeed failure invoked RTL has been requested
float32 load_factor_ratio # ratio of measured to aerodynamic load factor limit. Greater than 1 indicates airspeed low error condition.