At every consumation of AirspeedValidated, check for SOURCE

Signed-off-by: Silvan <silvan@auterion.com>

src/modules/commander/HealthAndArmingChecks/checks/airspeedCheck.cpp

@@ -54,6 +54,12 @@ void AirspeedChecks::checkAndReport(const Context &context, Report &reporter)
 
 		reporter.setIsPresent(health_component_t::differential_pressure);
 
+		const bool airspeed_from_sensor = airspeed_validated.airspeed_source == airspeed_validated_s::SENSOR_1
+						  || airspeed_validated.airspeed_source == airspeed_validated_s::SENSOR_2
+						  || airspeed_validated.airspeed_source == airspeed_validated_s::SENSOR_3;
+
+		const float airspeed_calibrated_from_sensor = airspeed_from_sensor ? airspeed_validated.calibrated_airspeed_m_s : NAN;
+
 		// Maximally allow the airspeed reading to be at FW_AIRSPD_MAX when arming. This is to catch very badly calibrated
 		// airspeed sensors, but also high wind conditions that prevent a forward flight of the vehicle.
 		float arming_max_airspeed_allowed = 20.f;
@@ -62,7 +68,7 @@ void AirspeedChecks::checkAndReport(const Context &context, Report &reporter)
 		/*
 		 * Check if airspeed is declared valid or not by airspeed selector.
 		 */
-		if (!PX4_ISFINITE(airspeed_validated.calibrated_airspeed_m_s)) {
+		if (!PX4_ISFINITE(airspeed_calibrated_from_sensor)) {
 
 			/* EVENT
 			 */
@@ -75,7 +81,7 @@ void AirspeedChecks::checkAndReport(const Context &context, Report &reporter)
 			}
 		}
 
-		if (!context.isArmed() && fabsf(airspeed_validated.calibrated_airspeed_m_s) > arming_max_airspeed_allowed) {
+		if (!context.isArmed() && airspeed_calibrated_from_sensor > arming_max_airspeed_allowed) {
 			/* EVENT
 			 * @description
 			 * Current airspeed reading too high. Check if wind is below maximum airspeed and redo airspeed

src/modules/fw_pos_control/FixedwingPositionControl.cpp

@@ -214,8 +214,10 @@ FixedwingPositionControl::airspeed_poll()
 
 		_eas2tas = 1.0f; //this is the default value, taken in case of invalid airspeed
 
+		// do not use synthetic airspeed as this would create a thrust loop
 		if (PX4_ISFINITE(airspeed_validated.calibrated_airspeed_m_s)
-		    && PX4_ISFINITE(airspeed_validated.true_airspeed_m_s)) {
+		    && PX4_ISFINITE(airspeed_validated.true_airspeed_m_s)
+		    && airspeed_validated.airspeed_source != airspeed_validated_s::SYNTHETIC) {
 
 			airspeed_valid = true;
 

src/modules/land_detector/FixedwingLandDetector.cpp

@@ -93,10 +93,15 @@ bool FixedwingLandDetector::_get_landed_state()
 		airspeed_validated_s airspeed_validated{};
 		_airspeed_validated_sub.copy(&airspeed_validated);
 
+		const bool airspeed_from_sensor = airspeed_validated.airspeed_source == airspeed_validated_s::SENSOR_1
+						  || airspeed_validated.airspeed_source == airspeed_validated_s::SENSOR_2
+						  || airspeed_validated.airspeed_source == airspeed_validated_s::SENSOR_3;
+
 		bool airspeed_invalid = false;
 
-		// set _airspeed_filtered to 0 if airspeed data is invalid
+		// set _airspeed_filtered to 0 if airspeed data is invalid or not from an actual airspeed sensor
-		if (!PX4_ISFINITE(airspeed_validated.true_airspeed_m_s) || hrt_elapsed_time(&airspeed_validated.timestamp) > 1_s) {
+		if (!airspeed_from_sensor || !PX4_ISFINITE(airspeed_validated.true_airspeed_m_s)
+		    || hrt_elapsed_time(&airspeed_validated.timestamp) > 1_s) {
 			_airspeed_filtered = 0.0f;
 			airspeed_invalid = true;
 

src/modules/mavlink/streams/VFR_HUD.hpp

@@ -82,9 +82,13 @@ private:
 
 			airspeed_validated_s airspeed_validated{};
 			_airspeed_validated_sub.copy(&airspeed_validated);
+			const bool airspeed_from_sensor = airspeed_validated.airspeed_source == airspeed_validated_s::SENSOR_1
+							  || airspeed_validated.airspeed_source == airspeed_validated_s::SENSOR_2
+							  || airspeed_validated.airspeed_source == airspeed_validated_s::SENSOR_3;
 
 			mavlink_vfr_hud_t msg{};
-			msg.airspeed = airspeed_validated.calibrated_airspeed_m_s;
+			// display NAN in case of source not being one of the sensors
+			msg.airspeed = airspeed_from_sensor ? airspeed_validated.calibrated_airspeed_m_s : NAN;
 			msg.groundspeed = sqrtf(lpos.vx * lpos.vx + lpos.vy * lpos.vy);
 			msg.heading = math::degrees(matrix::wrap_2pi(lpos.heading));