Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-26 01:17:51 +08:00
Code Issues Actions 5 Packages Projects Releases Wiki Activity

AirspeedValidator: pass vI as reference

Browse Source 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-10-19 15:09:59 +02:00
parent f9682b86d1
commit c0754cf324
2 changed files with 7 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/airspeed_selector/AirspeedValidator.cpp
+3 -3
View File
@@ -72,7 +72,7 @@ AirspeedValidator::reset_airspeed_to_invalid(const uint64_t timestamp)
void
AirspeedValidator::update_wind_estimator(const uint64_t time_now_usec, float airspeed_true_raw, bool lpos_valid,
matrix::Vector3f vI, float lpos_evh, float lpos_evv, const float att_q[4])
const matrix::Vector3f &vI, float lpos_evh, float lpos_evv, const float att_q[4])
{
_wind_estimator.update(time_now_usec);
@@ -111,7 +111,7 @@ AirspeedValidator::get_wind_estimator_states(uint64_t timestamp)
}
void
AirspeedValidator::update_CAS_scale_validated(bool lpos_valid, matrix::Vector3f vI, float airspeed_true_raw)
AirspeedValidator::update_CAS_scale_validated(bool lpos_valid, const matrix::Vector3f &vI, float airspeed_true_raw)
{
if (!_in_fixed_wing_flight || !lpos_valid) {
return;
@@ -211,7 +211,7 @@ AirspeedValidator::check_airspeed_data_stuck(uint64_t time_now)
void
AirspeedValidator::check_airspeed_innovation(uint64_t time_now, float estimator_status_vel_test_ratio,
float estimator_status_mag_test_ratio, matrix::Vector3f vI)
float estimator_status_mag_test_ratio, const matrix::Vector3f &vI)
{
// Check normalised innovation levels with requirement for continuous data and use of hysteresis
// to prevent false triggering.
src/modules/airspeed_selector/AirspeedValidator.hpp
+4 -3
View File
@@ -171,14 +171,15 @@ private:
void update_in_fixed_wing_flight(bool in_fixed_wing_flight) { _in_fixed_wing_flight = in_fixed_wing_flight; }
void update_wind_estimator(const uint64_t timestamp, float airspeed_true_raw, bool lpos_valid, matrix::Vector3f vI,
void update_wind_estimator(const uint64_t timestamp, float airspeed_true_raw, bool lpos_valid,
const matrix::Vector3f &vI,
float lpos_evh, float lpos_evv, const float att_q[4]);
void update_CAS_scale_validated(bool lpos_valid, matrix::Vector3f vI, float airspeed_true_raw);
void update_CAS_scale_validated(bool lpos_valid, const 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);
void check_airspeed_innovation(uint64_t timestamp, float estimator_status_vel_test_ratio,
float estimator_status_mag_test_ratio, matrix::Vector3f vI);
float estimator_status_mag_test_ratio, const matrix::Vector3f &vI);
void check_load_factor(float accel_z);
void update_airspeed_valid_status(const uint64_t timestamp);
void reset();