AirspeedSelector: parameter clean up and disable re-enabling if clear delay negative

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

src/lib/airspeed_validator/AirspeedValidator.cpp

@@ -227,7 +227,8 @@ AirspeedValidator::update_airspeed_valid_status(const uint64_t timestamp)
 			_airspeed_valid = false;
 		}
 
-	} else if ((timestamp - _time_checks_failed) > _checks_clear_delay * 1_s) {
+	} else if (_checks_clear_delay > 0.f && (timestamp - _time_checks_failed) > _checks_clear_delay * 1_s) {
+		// disable the re-enabling if the clear delay is negative
 		_airspeed_valid = true;
 	}
 }

src/modules/airspeed_selector/airspeed_selector_main.cpp

@@ -165,8 +165,8 @@ private:
 
 		(ParamFloat<px4::params::ASPD_FS_INNOV>) _tas_innov_threshold, /**< innovation check threshold */
 		(ParamFloat<px4::params::ASPD_FS_INTEG>) _tas_innov_integ_threshold, /**< innovation check integrator threshold */
-		(ParamInt<px4::params::ASPD_FS_T1>) _checks_fail_delay, /**< delay to declare airspeed invalid */
-		(ParamInt<px4::params::ASPD_FS_T2>) _checks_clear_delay, /**<  delay to declare airspeed valid again */
+		(ParamInt<px4::params::ASPD_FS_T_STOP>) _checks_fail_delay, /**< delay to declare airspeed invalid */
+		(ParamInt<px4::params::ASPD_FS_T_START>) _checks_clear_delay, /**<  delay to declare airspeed valid again */
 		(ParamFloat<px4::params::ASPD_STALL>) _airspeed_stall /**<  stall speed*/
 	)
 
@@ -545,11 +545,11 @@ void AirspeedModule::select_airspeed_and_publish()
 	    (_number_of_airspeed_sensors > 0 || !_vehicle_land_detected.landed) &&
 	    _valid_airspeed_index != _prev_airspeed_index) {
 		if (_prev_airspeed_index > 0) {
-			mavlink_log_critical(&_mavlink_log_pub, "Airspeed sensor failure deteced (%i, %i)", _prev_airspeed_index,
+			mavlink_log_critical(&_mavlink_log_pub, "Airspeed sensor failure detected (%i, %i)", _prev_airspeed_index,
 					     _valid_airspeed_index);
 
 		} else if (_prev_airspeed_index == 0 && _valid_airspeed_index == -1) {
-			mavlink_log_info(&_mavlink_log_pub, "Airspeed estimation invald");
+			mavlink_log_info(&_mavlink_log_pub, "Airspeed estimation invalid");
 
 		} else if (_prev_airspeed_index == -1 && _valid_airspeed_index == 0) {
 			mavlink_log_info(&_mavlink_log_pub, "Airspeed estimation valid");

src/modules/airspeed_selector/airspeed_selector_params.c

@@ -74,7 +74,7 @@ PARAM_DEFINE_INT32(ASPD_BETA_GATE, 1);
 /**
  * Automatic airspeed scale estimation on
  *
- * Turns the automatic airspeed scale (scale from IAS to CAS/EAS) on or off. It is recommended to fly level
+ * Turns the automatic airspeed scale (scale from IAS to CAS) on or off. It is recommended to fly level
  * altitude while performing the estimation. Set to 1 to start estimation (best when already flying).
  * Set to 0 to end scale estimation. The estimated scale is then saved using the ASPD_SCALE parameter.
  *
@@ -84,7 +84,7 @@ PARAM_DEFINE_INT32(ASPD_BETA_GATE, 1);
 PARAM_DEFINE_INT32(ASPD_SCALE_EST, 0);
 
 /**
- * Airspeed scale (scale from IAS to CAS/EAS)
+ * Airspeed scale (scale from IAS to CAS)
  *
  * Scale can either be entered manually, or estimated in-flight by setting ASPD_SCALE_EST to 1.
  *
@@ -137,7 +137,7 @@ PARAM_DEFINE_INT32(ASPD_FALLBACK_GW, 0);
  *
  * This specifies the minimum airspeed test ratio required to trigger a failsafe. Larger values make the check less sensitive,
  * smaller values make it more sensitive. Start with a value of 1.0 when tuning. When tas_test_ratio is > 1.0 it indicates the
- * inconsistency between predicted and measured airspeed is large enough to cause the navigation EKF to reject airspeed measurements.
+ * inconsistency between predicted and measured airspeed is large enough to cause the wind EKF to reject airspeed measurements.
  * The time required to detect a fault when the threshold is exceeded depends on the size of the exceedance and is controlled by the ASPD_FS_INTEG parameter.
 *
  * @min 0.5
@@ -170,19 +170,20 @@ PARAM_DEFINE_FLOAT(ASPD_FS_INTEG, -1.0f);
  * @min 1
  * @max 10
  */
-PARAM_DEFINE_INT32(ASPD_FS_T1, 3);
+PARAM_DEFINE_INT32(ASPD_FS_T_STOP, 2);
 
 /**
  * Airspeed failsafe start delay
  *
  * Delay before switching back to using airspeed sensor if checks indicate sensor is good.
+ * Set to a negative value to disable the re-enabling in flight.
  *
  * @unit s
  * @group Airspeed Validator
- * @min 10
+ * @min -1
  * @max 1000
  */
-PARAM_DEFINE_INT32(ASPD_FS_T2, 100);
+PARAM_DEFINE_INT32(ASPD_FS_T_START, -1);
 
 /**
  * Airspeed fault detection stall airspeed