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AirspeedSelector: add synthetic airspeed option

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Synthetic airspeed is calculated based on the thrust setpoint
and the thrust<->airpseed model as configured in the parameters.
This commit is contained in:
Marco Hauswirth
2025-04-04 16:52:05 +02:00
committed by Silvan Fuhrer
parent c3c863ad95
commit 5842c991ec
14 changed files with 222 additions and 56 deletions
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msg/translation_node/translations/all_translations.h
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@@ -11,3 +11,4 @@
//#include "example_translation_service_v1.h"
#include "translation_vehicle_status_v1.h"
#include "translation_airspeed_validated_v1.h"
msg/translation_node/translations/translation_airspeed_validated_v1.h
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@@ -0,0 +1,51 @@
/****************************************************************************
* Copyright (c) 2025 PX4 Development Team.
* SPDX-License-Identifier: BSD-3-Clause
****************************************************************************/
#pragma once
// Translate AirspeedValidated v0 <--> v1
#include <px4_msgs_old/msg/airspeed_validated_v0.hpp>
#include <px4_msgs/msg/airspeed_validated.hpp>
class AirspeedValidatedV1Translation {
public:
using MessageOlder = px4_msgs_old::msg::AirspeedValidatedV0;
static_assert(MessageOlder::MESSAGE_VERSION == 0);
using MessageNewer = px4_msgs::msg::AirspeedValidated;
static_assert(MessageNewer::MESSAGE_VERSION == 1);
static constexpr const char* kTopic = "fmu/out/airspeed_validated";
static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
// Set msg_newer from msg_older
msg_newer.timestamp = msg_older.timestamp;
msg_newer.indicated_airspeed_m_s = msg_older.indicated_airspeed_m_s;
msg_newer.calibrated_airspeed_m_s = msg_older.calibrated_airspeed_m_s;
msg_newer.true_airspeed_m_s = msg_older.true_airspeed_m_s;
msg_newer.airspeed_source = msg_older.selected_airspeed_index;
msg_newer.calibrated_ground_minus_wind_m_s = msg_older.calibrated_ground_minus_wind_m_s;
msg_newer.calibraded_airspeed_synth_m_s = NAN;
msg_newer.airspeed_derivative_filtered = msg_older.airspeed_derivative_filtered;
msg_newer.throttle_filtered = msg_older.throttle_filtered;
msg_newer.pitch_filtered = msg_older.pitch_filtered;
}
static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
// Set msg_older from msg_newer
msg_older.timestamp = msg_newer.timestamp;
msg_older.indicated_airspeed_m_s = msg_newer.indicated_airspeed_m_s;
msg_older.calibrated_airspeed_m_s = msg_newer.calibrated_airspeed_m_s;
msg_older.true_airspeed_m_s = msg_newer.true_airspeed_m_s;
msg_older.calibrated_ground_minus_wind_m_s = msg_newer.calibrated_ground_minus_wind_m_s;
msg_older.true_ground_minus_wind_m_s = msg_newer.calibrated_ground_minus_wind_m_s;
msg_older.airspeed_sensor_measurement_valid = msg_newer.airspeed_source > 0 && msg_newer.airspeed_source <= 3;
msg_older.selected_airspeed_index = msg_newer.airspeed_source;
msg_older.airspeed_derivative_filtered = msg_newer.airspeed_derivative_filtered;
msg_older.throttle_filtered = msg_newer.throttle_filtered;
msg_older.pitch_filtered = msg_newer.pitch_filtered;
}
};
REGISTER_TOPIC_TRANSLATION_DIRECT(AirspeedValidatedV1Translation);