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This new airspeed module does: -runns an airspeed validator for every airspeed sensor present, which checks measurement validity and estimates an airspeed scale -selects another airspeed sensor if for the current one a failure is detected -estimates airspeed with groundspeed-windspeed if no valid airspeed sensor is present -outputs airspeed_validated topic Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
11 lines
827 B
Plaintext
11 lines
827 B
Plaintext
uint64 timestamp # time since system start (microseconds)
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float32 indicated_airspeed_m_s # indicated airspeed in m/s (IAS), set to NAN if invalid
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float32 equivalent_airspeed_m_s # equivalent airspeed in m/s (accounts for instrumentation errors) (EAS), set to NAN if invalid
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float32 true_airspeed_m_s # true filtered airspeed in m/s (TAS), set to NAN if invalid
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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
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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
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int8 selected_airspeed_index # 0-2: airspeed sensor index, -1: groundspeed-windspeed, -2: airspeed invalid
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