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AirspeedValidator: fix airspeed scale validation (feed raw TAS)

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-10-14 14:24:12 +02:00
parent a2faac148f
commit 7537fa36c8
2 changed files with 4 additions and 4 deletions
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src/modules/airspeed_selector/AirspeedValidator.cpp
+3 -3
View File
@@ -50,7 +50,7 @@ AirspeedValidator::update_airspeed_validator(const airspeed_validator_update_dat
// get indicated airspeed from input data (raw airspeed)
_IAS = input_data.airspeed_indicated_raw;
update_CAS_scale_estimated(input_data.lpos_valid, input_data.ground_velocity);
update_CAS_scale_estimated(input_data.lpos_valid, input_data.ground_velocity, input_data.airspeed_true_raw);
update_CAS_scale_applied();
update_CAS_TAS(input_data.air_pressure_pa, input_data.air_temperature_celsius);
update_wind_estimator(input_data.timestamp, input_data.airspeed_true_raw, input_data.lpos_valid,
@@ -111,7 +111,7 @@ AirspeedValidator::get_wind_estimator_states(uint64_t timestamp)
}
void
AirspeedValidator::update_CAS_scale_estimated(bool lpos_valid, matrix::Vector3f vI)
AirspeedValidator::update_CAS_scale_estimated(bool lpos_valid, matrix::Vector3f vI, float airspeed_true_raw)
{
if (!_in_fixed_wing_flight) {
return;
@@ -126,7 +126,7 @@ AirspeedValidator::update_CAS_scale_estimated(bool lpos_valid, matrix::Vector3f
const int segment_index = int(SCALE_CHECK_SAMPLES * course_over_ground_rad / (2.f * M_PI_F));
_scale_check_groundspeed(segment_index) = vI.norm();
_scale_check_TAS(segment_index) = _TAS;
_scale_check_TAS(segment_index) = airspeed_true_raw;
// run check if all segments are filled
if (PX4_ISFINITE(_scale_check_groundspeed.norm_squared())) {
src/modules/airspeed_selector/AirspeedValidator.hpp
+1 -1
View File
@@ -173,7 +173,7 @@ private:
void update_wind_estimator(const uint64_t timestamp, float airspeed_true_raw, bool lpos_valid, matrix::Vector3f vI,
float lpos_evh, float lpos_evv, const float att_q[4]);
void update_CAS_scale_estimated(bool lpos_valid, matrix::Vector3f vI);
void update_CAS_scale_estimated(bool lpos_valid, matrix::Vector3f vI, float airspeed_true_raw);
void update_CAS_scale_applied();
void update_CAS_TAS(float air_pressure_pa, float air_temperature_celsius);
void check_airspeed_data_stuck(uint64_t timestamp);