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AirspeedSelector: some clean up

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2021-10-14 15:10:46 +02:00
parent 7537fa36c8
commit f9682b86d1
4 changed files with 21 additions and 24 deletions
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23
src/modules/airspeed_selector/AirspeedValidator.cpp
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@ -50,7 +50,7 @@ AirspeedValidator::update_airspeed_validator(const airspeed_validator_update_dat
// get indicated airspeed from input data (raw airspeed)
_IAS = input_data.airspeed_indicated_raw;
update_CAS_scale_estimated(input_data.lpos_valid, input_data.ground_velocity, input_data.airspeed_true_raw);
update_CAS_scale_validated(input_data.lpos_valid, input_data.ground_velocity, input_data.airspeed_true_raw);
update_CAS_scale_applied();
update_CAS_TAS(input_data.air_pressure_pa, input_data.air_temperature_celsius);
update_wind_estimator(input_data.timestamp, input_data.airspeed_true_raw, input_data.lpos_valid,
@ -106,14 +106,14 @@ AirspeedValidator::get_wind_estimator_states(uint64_t timestamp)
wind_est.beta_innov_var = _wind_estimator.get_beta_innov_var();
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_estimated;
wind_est.tas_scale_validated = _CAS_scale_validated;
return wind_est;
}
void
AirspeedValidator::update_CAS_scale_estimated(bool lpos_valid, matrix::Vector3f vI, float airspeed_true_raw)
AirspeedValidator::update_CAS_scale_validated(bool lpos_valid, matrix::Vector3f vI, float airspeed_true_raw)
{
if (!_in_fixed_wing_flight) {
if (!_in_fixed_wing_flight || !lpos_valid) {
return;
}
@ -139,20 +139,17 @@ AirspeedValidator::update_CAS_scale_estimated(bool lpos_valid, matrix::Vector3f
TAS_sum += _scale_check_TAS(i);
}
const float TAS_to_grounspeed_error_current = ground_speed_sum - TAS_sum * _CAS_scale_estimated;
const float TAS_to_grounspeed_error_current = ground_speed_sum - TAS_sum * _CAS_scale_validated;
const float TAS_to_grounspeed_error_new = ground_speed_sum - TAS_sum * _wind_estimator.get_tas_scale();
// check passes if the average airspeed with the scale applied is closer to groundspeed than without
if (fabsf(TAS_to_grounspeed_error_new) < fabsf(TAS_to_grounspeed_error_current)) {
// constrain the scale update to max 0.01 at a time
const float new_scale_constrained = math::constrain(_wind_estimator.get_tas_scale(), _CAS_scale_estimated - 0.01f,
_CAS_scale_estimated + 0.01f);
const float new_scale_constrained = math::constrain(_wind_estimator.get_tas_scale(), _CAS_scale_validated - 0.01f,
_CAS_scale_validated + 0.01f);
// PX4_INFO("_CAS_scale_estimated updated: %.2f --> %.2f", (double)_CAS_scale_estimated,
// (double)new_scale_constrained);
_CAS_scale_estimated = new_scale_constrained;
_CAS_scale_validated = new_scale_constrained;
}
reset_CAS_scale_check();
@ -187,7 +184,7 @@ AirspeedValidator::update_CAS_scale_applied()
break;
case 3:
_CAS_scale_applied = _CAS_scale_estimated;
_CAS_scale_applied = _CAS_scale_validated;
break;
}
}
@ -241,7 +238,7 @@ AirspeedValidator::check_airspeed_innovation(uint64_t time_now, float estimator_
const float dt_s = math::constrain((time_now - _time_last_aspd_innov_check) / 1e6f, 0.01f, 0.2f); // limit to [5,100] Hz
matrix::Vector2f wind_2d(_wind_estimator.get_wind());
matrix::Vector3f air_vel = vI - matrix::Vector3f {wind_2d(0), wind_2d(1), 0.f};
const float tas_innov = abs(_TAS - air_vel.norm());
const float tas_innov = fabsf(_TAS - air_vel.norm());
if (tas_innov > _tas_innov_threshold) {
_apsd_innov_integ_state += dt_s * (tas_innov - _tas_innov_threshold); // integrate exceedance

8
src/modules/airspeed_selector/AirspeedValidator.hpp
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@ -82,7 +82,7 @@ public:
float get_CAS() { return _CAS; }
float get_TAS() { return _TAS; }
bool get_airspeed_valid() { return _airspeed_valid; }
float get_CAS_scale_estimated() {return _CAS_scale_estimated;}
float get_CAS_scale_validated() {return _CAS_scale_validated;}
airspeed_wind_s get_wind_estimator_states(uint64_t timestamp);
@ -113,7 +113,7 @@ public:
void set_airspeed_stall(float airspeed_stall) { _airspeed_stall = airspeed_stall; }
void set_tas_scale_apply(int tas_scale_apply) { _tas_scale_apply = tas_scale_apply; }
void set_CAS_scale_estimated(float scale) { _CAS_scale_estimated = scale; }
void set_CAS_scale_validated(float scale) { _CAS_scale_validated = scale; }
void set_scale_init(float scale) { _wind_estimator.set_scale_init(scale); }
void set_disable_tas_scale_estimate(bool disable_scale_est) {_wind_estimator.set_disable_tas_scale_estimate(disable_scale_est); }
@ -130,7 +130,7 @@ private:
float _CAS{0.0f}; ///< calibrated airspeed in m/s
float _TAS{0.0f}; ///< true airspeed in m/s
float _CAS_scale_applied{1.0f}; ///< scale factor from IAS to CAS (currently applied value)
float _CAS_scale_estimated{1.0f}; ///< scale factor from IAS to CAS (currently estimated value)
float _CAS_scale_validated{1.0f}; ///< scale factor from IAS to CAS (currently estimated value)
// data stuck check
uint64_t _time_last_unequal_data{0};
@ -173,7 +173,7 @@ private:
void update_wind_estimator(const uint64_t timestamp, float airspeed_true_raw, bool lpos_valid, matrix::Vector3f vI,
float lpos_evh, float lpos_evv, const float att_q[4]);
void update_CAS_scale_estimated(bool lpos_valid, matrix::Vector3f vI, float airspeed_true_raw);
void update_CAS_scale_validated(bool lpos_valid, matrix::Vector3f vI, float airspeed_true_raw);
void update_CAS_scale_applied();
void update_CAS_TAS(float air_pressure_pa, float air_temperature_celsius);
void check_airspeed_data_stuck(uint64_t timestamp);

12
src/modules/airspeed_selector/airspeed_selector_main.cpp
View File

@ -296,7 +296,7 @@ AirspeedModule::Run()
init(); // initialize airspeed validator instances
for (int i = 0; i < MAX_NUM_AIRSPEED_SENSORS; i++) {
_airspeed_validator[i].set_CAS_scale_estimated(_param_airspeed_scale[i]);
_airspeed_validator[i].set_CAS_scale_validated(_param_airspeed_scale[i]);
_airspeed_validator[i].set_scale_init(_param_airspeed_scale[i]);
}
@ -388,25 +388,25 @@ AirspeedModule::Run()
// save estimated airspeed scale after disarm
if (!armed && _armed_prev) {
if (_param_aspd_scale_apply.get() > 1) {
if (fabsf(_airspeed_validator[i].get_CAS_scale_estimated() - _param_airspeed_scale[i]) > 0.01f) {
if (fabsf(_airspeed_validator[i].get_CAS_scale_validated() - _param_airspeed_scale[i]) > 0.01f) {
// apply the new scale if changed more than 0.01
mavlink_log_info(&_mavlink_log_pub, "Airspeed sensor Nr. %d ASPD_SCALE updated: %.2f --> %.2f", i + 1,
(double)_param_airspeed_scale[i],
(double)_airspeed_validator[i].get_CAS_scale_estimated());
(double)_airspeed_validator[i].get_CAS_scale_validated());
switch (i) {
case 0:
_param_airspeed_scale_1.set(_airspeed_validator[i].get_CAS_scale_estimated());
_param_airspeed_scale_1.set(_airspeed_validator[i].get_CAS_scale_validated());
_param_airspeed_scale_1.commit_no_notification();
break;
case 1:
_param_airspeed_scale_2.set(_airspeed_validator[i].get_CAS_scale_estimated());
_param_airspeed_scale_2.set(_airspeed_validator[i].get_CAS_scale_validated());
_param_airspeed_scale_2.commit_no_notification();
break;
case 2:
_param_airspeed_scale_3.set(_airspeed_validator[i].get_CAS_scale_estimated());
_param_airspeed_scale_3.set(_airspeed_validator[i].get_CAS_scale_validated());
_param_airspeed_scale_3.commit_no_notification();
break;
}

2
src/modules/airspeed_selector/airspeed_selector_params.c
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@ -76,7 +76,7 @@ PARAM_DEFINE_INT32(ASPD_TAS_GATE, 3);
PARAM_DEFINE_INT32(ASPD_BETA_GATE, 1);
/**
* Controls when to apply the new esstimated airspeed scale
* Controls when to apply the new estimated airspeed scale
*
* @value 0 Disable airspeed scale estimation completely
* @value 1 Do not apply the new gains (logging and inside wind estimator)