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AirspeedSelector: add bitmask to enable checks seperately in ASPD_DO_CHECKS

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-10-21 14:05:31 +02:00
parent 73fe300c00
commit f9cfcc5cfa
4 changed files with 45 additions and 5 deletions
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src/modules/airspeed_selector/airspeed_selector_main.cpp
+14
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@@ -157,6 +157,13 @@ private:
float _param_airspeed_scale[MAX_NUM_AIRSPEED_SENSORS] {}; /** array to save the airspeed scale params in */
enum CheckTypeBits {
CHECK_TYPE_ONLY_DATA_MISSING_BIT = (1 << 0),
CHECK_TYPE_DATA_STUCK_BIT = (1 << 1),
CHECK_TYPE_INNOVATION_BIT = (1 << 2),
CHECK_TYPE_LOAD_FACTOR_BIT = (1 << 3)
};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::ASPD_W_P_NOISE>) _param_west_w_p_noise,
(ParamFloat<px4::params::ASPD_SC_P_NOISE>) _param_west_sc_p_noise,
@@ -460,6 +467,13 @@ void AirspeedModule::update_params()
_airspeed_validator[i].set_checks_fail_delay(_checks_fail_delay.get());
_airspeed_validator[i].set_checks_clear_delay(_checks_clear_delay.get());
_airspeed_validator[i].set_airspeed_stall(_param_fw_airspd_stall.get());
_airspeed_validator[i].set_enable_data_stuck_check(_param_airspeed_checks_on.get() &
CheckTypeBits::CHECK_TYPE_DATA_STUCK_BIT);
_airspeed_validator[i].set_enable_innovation_check(_param_airspeed_checks_on.get() &
CheckTypeBits::CHECK_TYPE_INNOVATION_BIT);
_airspeed_validator[i].set_enable_load_factor_check(_param_airspeed_checks_on.get() &
CheckTypeBits::CHECK_TYPE_LOAD_FACTOR_BIT);
}
}