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airspeed_selector: fix aspd typos

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This commit is contained in:
Daniel Agar
2023-07-06 12:10:44 -04:00
parent c0a56ce268
commit 45968c614e
2 changed files with 6 additions and 6 deletions
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src/modules/airspeed_selector/AirspeedValidator.cpp
+5 -5
View File
@@ -226,13 +226,13 @@ AirspeedValidator::check_airspeed_innovation(uint64_t time_now, float estimator_
|| _tas_innov_integ_threshold <= 0.f) {
_innovations_check_failed = false;
_time_last_tas_pass = time_now;
_apsd_innov_integ_state = 0.f;
_aspd_innov_integ_state = 0.f;
} else if (!lpos_valid || estimator_status_vel_test_ratio > 1.f || estimator_status_mag_test_ratio > 1.f) {
//nav velocity data is likely not good
//don't run the test but don't reset the check if it had previously failed when nav velocity data was still likely good
_time_last_tas_pass = time_now;
_apsd_innov_integ_state = 0.f;
_aspd_innov_integ_state = 0.f;
} else {
// nav velocity data is likely good so airspeed innovations are able to be used
@@ -242,14 +242,14 @@ AirspeedValidator::check_airspeed_innovation(uint64_t time_now, float estimator_
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
_aspd_innov_integ_state += dt_s * (tas_innov - _tas_innov_threshold); // integrate exceedance
} else {
// reset integrator used to trigger and record pass if integrator check is disabled
_apsd_innov_integ_state = 0.f;
_aspd_innov_integ_state = 0.f;
}
if (_tas_innov_integ_threshold > 0.f && _apsd_innov_integ_state < _tas_innov_integ_threshold) {
if (_tas_innov_integ_threshold > 0.f && _aspd_innov_integ_state < _tas_innov_integ_threshold) {
_time_last_tas_pass = time_now;
}
src/modules/airspeed_selector/AirspeedValidator.hpp
+1 -1
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@@ -151,7 +151,7 @@ private:
float _tas_innov_integ_threshold{-1.0}; ///< integrator innovation error threshold for triggering innovation check failure
uint64_t _time_last_aspd_innov_check{0}; ///< time airspeed innovation was last checked (uSec)
uint64_t _time_last_tas_pass{0}; ///< last time innovation checks passed
float _apsd_innov_integ_state{0.0f}; ///< integral of excess normalised airspeed innovation (sec)
float _aspd_innov_integ_state{0.0f}; ///< integral of excess normalised airspeed innovation (sec)
static constexpr uint64_t TAS_INNOV_FAIL_DELAY{1_s}; ///< time required for innovation levels to pass or fail (usec)
uint64_t _time_wind_estimator_initialized{0}; ///< time last time wind estimator was initialized (uSec)