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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 14:14:25 -05:00
committed by Daniel Agar
parent a46581987c
commit ebdc29bc5f
21 changed files with 381 additions and 571 deletions
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src/modules/commander/Commander.hpp
+1 -24
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@@ -77,7 +77,6 @@ class Commander : public ModuleBase<Commander>, public ModuleParams
{
public:
Commander();
~Commander();
/** @see ModuleBase */
static int task_spawn(int argc, char *argv[]);
@@ -133,15 +132,9 @@ private:
(ParamInt<px4::params::COM_OBS_AVOID>) _param_com_obs_avoid,
(ParamInt<px4::params::COM_OA_BOOT_T>) _param_com_oa_boot_t,
(ParamFloat<px4::params::COM_TAS_FS_INNOV>) _tas_innov_threshold,
(ParamFloat<px4::params::COM_TAS_FS_INTEG>) _tas_innov_integ_threshold,
(ParamInt<px4::params::COM_TAS_FS_T1>) _tas_use_stop_delay,
(ParamInt<px4::params::COM_TAS_FS_T2>) _tas_use_start_delay,
(ParamInt<px4::params::COM_ASPD_FS_ACT>) _airspeed_fail_action,
(ParamFloat<px4::params::COM_ASPD_STALL>) _airspeed_stall,
(ParamInt<px4::params::COM_ASPD_FS_DLY>) _airspeed_rtl_delay,
(ParamInt<px4::params::COM_FLT_PROFILE>) _param_com_flt_profile,
(ParamFloat<px4::params::COM_OF_LOSS_T>) _param_com_of_loss_t,
(ParamInt<px4::params::COM_OBL_ACT>) _param_com_obl_act,
(ParamInt<px4::params::COM_OBL_RC_ACT>) _param_com_obl_rc_act,
@@ -184,20 +177,6 @@ private:
bool _nav_test_passed{false}; /**< true if the post takeoff navigation test has passed */
bool _nav_test_failed{false}; /**< true if the post takeoff navigation test has failed */
/* class variables used to check for airspeed sensor failure */
bool _tas_check_fail{false}; /**< true when airspeed innovations have failed consistency checks */
hrt_abstime _time_last_tas_pass{0}; /**< last time innovation checks passed */
hrt_abstime _time_last_tas_fail{0}; /**< last time innovation checks failed */
static constexpr hrt_abstime TAS_INNOV_FAIL_DELAY{1_s}; /**< time required for innovation levels to pass or fail (usec) */
bool _tas_use_inhibit{false}; /**< true when the commander has instructed the control loops to not use airspeed data */
hrt_abstime _time_tas_good_declared{0}; /**< time TAS use was started (uSec) */
hrt_abstime _time_tas_bad_declared{0}; /**< time TAS use was stopped (uSec) */
hrt_abstime _time_last_airspeed{0}; /**< time last airspeed measurement was received (uSec) */
hrt_abstime _time_last_aspd_innov_check{0}; /**< time airspeed innovation was last checked (uSec) */
char *_airspeed_fault_type = new char[7];
float _load_factor_ratio{0.5f}; /**< ratio of maximum load factor predicted by stall speed to measured load factor */
float _apsd_innov_integ_state{0.0f}; /**< inegral of excess normalised airspeed innovation (sec) */
bool _geofence_loiter_on{false};
bool _geofence_rtl_on{false};
bool _geofence_warning_action_on{false};
@@ -240,8 +219,6 @@ private:
void offboard_control_update(bool &status_changed);
void airspeed_use_check();
void battery_status_check();
void esc_status_check(const esc_status_s &esc_status);