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Added pitot tube icing detection (#23206)

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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>
This commit is contained in:
Roman Bapst
2024-07-09 11:16:40 +02:00
committed by GitHub
parent a35cecece4
commit 8221940b60
11 changed files with 278 additions and 5 deletions
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ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu
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@@ -7,6 +7,7 @@
#
# @maintainer
# @board px4_fmu-v2 exclude
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5x exclude
# @board px4_fmu-v6x exclude
#
ROMFS/px4fmu_common/init.d/airframes/4071_ifo
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@@ -12,6 +12,7 @@
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
# @board px4_fmu-v5x exclude
# @board px4_fmu-v6x exclude
# @board bitcraze_crazyflie exclude
# @board cuav_x7pro exclude
#
ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s
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@@ -10,6 +10,7 @@
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
# @board px4_fmu-v5x exclude
# @board px4_fmu-v6x exclude
# @board bitcraze_crazyflie exclude
# @board cuav_x7pro exclude
#
ROMFS/px4fmu_common/init.d/airframes/4500_clover4
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@@ -8,6 +8,7 @@
# @maintainer Oleg Kalachev <okalachev@gmail.com>
#
# @board px4_fmu-v2 exclude
# @board px4_fmu-v4pro exclude
# @board bitcraze_crazyflie exclude
#