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* lib: add FilteredDerivative class * AirspeedValidator: add first principle check - filters throttle, pitch and airspeed rate, and triggers if the airspeed rate is negative even though the vehicle is pitching down and giving high throttle. Check has to fail for duration defined by ASPD_FP_T_WINDOW to trigger an airspeed failure. * AirspeedValidator: define constants for first principle check * FilteredDerivative: set initialised to false if sample interval is invalid * airspeed_selector: improved comment * increase IAS derivative filter time constant from 4 to 5 * use legacy parameter handling for FW_PSP_OFF * handle FW_THR_MAX as well * ROMFS/airframes: exclude some airframes for v6x and v4pro to save flash on them --------- Signed-off-by: Silvan Fuhrer <silvan@auterion.com> Signed-off-by: RomanBapst <bapstroman@gmail.com> Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
17 lines
1.1 KiB
Plaintext
17 lines
1.1 KiB
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 calibrated_airspeed_m_s # calibrated airspeed in m/s (CAS, accounts for instrumentation errors), 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 calibrated_ground_minus_wind_m_s # CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, 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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bool airspeed_sensor_measurement_valid # True if data from at least one airspeed sensor is declared valid.
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int8 selected_airspeed_index # 1-3: airspeed sensor index, 0: groundspeed-windspeed, -1: airspeed invalid
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float32 airspeed_derivative_filtered # filtered indicated airspeed derivative [m/s/s]
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float32 throttle_filtered # filtered fixed-wing throttle [-]
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float32 pitch_filtered # filtered pitch [rad]
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