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Airspeed Selector: repurpose wind estimator into an airspeed (selection, validation) module.

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This new airspeed module does:
  -runns an airspeed validator for every airspeed sensor present, which checks measurement validity and estimates an airspeed scale
  -selects another airspeed sensor if for the current one a failure is detected
  -estimates airspeed with groundspeed-windspeed if no valid airspeed sensor is present
  -outputs airspeed_validated topic

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2019-08-07 13:06:00 +02:00
committed by Roman Bapst
parent 970e362e9a
commit cedf14e2ba
65 changed files with 767 additions and 461 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/init.d-posix/1030_plane
-1
View File
@@ -37,7 +37,6 @@ then
param set RWTO_TKOFF 1 param set RWTO_TKOFF 1
param set WEST_EN 1
fi fi
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
ROMFS/px4fmu_common/init.d-posix/1040_standard_vtol
-1
View File
@@ -38,7 +38,6 @@ then
param set VT_MOT_COUNT 4 param set VT_MOT_COUNT 4
param set VT_TYPE 2 param set VT_TYPE 2
param set WEST_EN 1
fi fi
set MAV_TYPE 22 set MAV_TYPE 22
ROMFS/px4fmu_common/init.d-posix/1041_tailsitter
-1
View File
@@ -38,7 +38,6 @@ then
param set VT_MOT_COUNT 0 param set VT_MOT_COUNT 0
param set VT_TYPE 0 param set VT_TYPE 0
param set WEST_EN 1
fi fi
set MAV_TYPE 20 set MAV_TYPE 20
ROMFS/px4fmu_common/init.d-posix/1042_tiltrotor
-1
View File
@@ -41,7 +41,6 @@ then
param set VT_ELEV_MC_LOCK 0 param set VT_ELEV_MC_LOCK 0
param set VT_TYPE 1 param set VT_TYPE 1
param set WEST_EN 1
fi fi
set MAV_TYPE 21 set MAV_TYPE 21
ROMFS/px4fmu_common/init.d-posix/rcS
-5
View File
@@ -164,7 +164,6 @@ then
param set TRIG_INTERFACE 3 param set TRIG_INTERFACE 3
param set WEST_EN 0
fi fi
# Adapt timeout parameters if simulation runs faster or slower than realtime. # Adapt timeout parameters if simulation runs faster or slower than realtime.
@@ -213,10 +212,6 @@ sensors start
commander start commander start
navigator start navigator start
if param compare WEST_EN 1
then
wind_estimator start
fi
if ! param compare MNT_MODE_IN -1 if ! param compare MNT_MODE_IN -1
then then
ROMFS/px4fmu_common/init.d/rc.fw_apps
+1 -2
View File
@@ -15,9 +15,8 @@ ekf2 start
# #
fw_att_control start fw_att_control start
fw_pos_control_l1 start fw_pos_control_l1 start
airspeed_selector start
# #
# Start Land Detector. # Start Land Detector.
# #
land_detector start fixedwing land_detector start fixedwing
ROMFS/px4fmu_common/init.d/rc.vtol_apps
+1 -1
View File
@@ -21,10 +21,10 @@ mc_att_control start
mc_pos_control start mc_pos_control start
fw_att_control start fw_att_control start
fw_pos_control_l1 start fw_pos_control_l1 start
airspeed_selector start
# #
# Start Land Detector # Start Land Detector
# Multicopter for now until we have something for VTOL # Multicopter for now until we have something for VTOL
# #
land_detector start vtol land_detector start vtol
ROMFS/px4fmu_common/init.d/rcS
-8
View File
@@ -435,14 +435,6 @@ else
# #
navigator start navigator start
#
# Start the standalone wind estimator.
#
if param compare WEST_EN 1
then
wind_estimator start
fi
# #
# Start a thermal calibration if required. # Start a thermal calibration if required.
# #
boards/aerotenna/ocpoc/ubuntu.cmake
+1 -1
View File
@@ -52,7 +52,7 @@ px4_add_board(
#simulator #simulator
vmount vmount
vtol_att_control vtol_att_control
wind_estimator airspeed_selector
SYSTEMCMDS SYSTEMCMDS
esc_calib esc_calib
boards/airmind/mindpx-v2/default.cmake
+1 -1
View File
@@ -72,7 +72,7 @@ px4_add_board(
sih sih
vmount vmount
vtol_att_control vtol_att_control
wind_estimator airspeed_selector
SYSTEMCMDS SYSTEMCMDS
bl_update bl_update
boards/atlflight/eagle/default.cmake
+1 -1
View File
@@ -87,7 +87,7 @@ px4_add_board(
simulator simulator
vmount vmount
vtol_att_control vtol_att_control
wind_estimator airspeed_selector
SYSTEMCMDS SYSTEMCMDS
#bl_update #bl_update
boards/atlflight/eagle/qurt-default.cmake
+1 -1
View File
@@ -76,7 +76,7 @@ px4_add_board(
#sih #sih
vmount vmount
vtol_att_control vtol_att_control
wind_estimator airspeed_selector
SYSTEMCMDS SYSTEMCMDS
param param
boards/atlflight/excelsior/default.cmake
+1 -1
View File
@@ -87,7 +87,7 @@ px4_add_board(
simulator simulator
vmount vmount
vtol_att_control vtol_att_control
wind_estimator airspeed_selector
SYSTEMCMDS SYSTEMCMDS
#bl_update #bl_update
boards/atlflight/excelsior/qurt-default.cmake
+1 -1
View File
@@ -76,7 +76,7 @@ px4_add_board(
sih sih
vmount vmount
vtol_att_control vtol_att_control
wind_estimator airspeed_selector
SYSTEMCMDS SYSTEMCMDS
param param
boards/auav/x21/default.cmake
+1 -1
View File
@@ -78,7 +78,7 @@ px4_add_board(
sih sih
vmount vmount
vtol_att_control vtol_att_control
wind_estimator airspeed_selector
SYSTEMCMDS SYSTEMCMDS
bl_update bl_update
boards/av/x-v1/default.cmake
+1 -1
View File
@@ -79,7 +79,7 @@ px4_add_board(
sih sih
vmount vmount
vtol_att_control vtol_att_control
wind_estimator airspeed_selector
SYSTEMCMDS SYSTEMCMDS
#bl_update #bl_update
boards/beaglebone/blue/cross.cmake
+1 -1
View File
@@ -50,7 +50,7 @@ px4_add_board(
sih sih
vmount vmount
vtol_att_control vtol_att_control
wind_estimator airspeed_selector
SYSTEMCMDS SYSTEMCMDS
esc_calib esc_calib
boards/beaglebone/blue/native.cmake
+1 -1
View File
@@ -48,7 +48,7 @@ px4_add_board(
sih sih
vmount vmount
vtol_att_control vtol_att_control
wind_estimator airspeed_selector
SYSTEMCMDS SYSTEMCMDS
esc_calib esc_calib
boards/bitcraze/crazyflie/default.cmake
+1 -1
View File
@@ -38,7 +38,7 @@ px4_add_board(
sensors sensors
sih sih
#vtol_att_control #vtol_att_control
wind_estimator airspeed_selector
SYSTEMCMDS SYSTEMCMDS
bl_update bl_update
boards/emlid/navio2/cross.cmake
+1 -1
View File
@@ -55,7 +55,7 @@ px4_add_board(
#simulator #simulator
vmount vmount
vtol_att_control vtol_att_control
wind_estimator airspeed_selector
SYSTEMCMDS SYSTEMCMDS
dyn dyn
boards/emlid/navio2/native.cmake
+1 -1
View File
@@ -53,7 +53,7 @@ px4_add_board(
#simulator #simulator
vmount vmount
vtol_att_control vtol_att_control
wind_estimator airspeed_selector
SYSTEMCMDS SYSTEMCMDS
dyn dyn
boards/intel/aerofc-v1/default.cmake
+1 -1
View File
@@ -55,7 +55,7 @@ px4_add_board(
sih sih
vmount vmount
#vtol_att_control #vtol_att_control
#wind_estimator #airspeed_selector
SYSTEMCMDS SYSTEMCMDS
bl_update bl_update
boards/intel/aerofc-v1/rtps.cmake
+1 -1
View File
@@ -59,7 +59,7 @@ px4_add_board(
sih sih
vmount vmount
#vtol_att_control #vtol_att_control
#wind_estimator #airspeed_selector
SYSTEMCMDS SYSTEMCMDS
bl_update bl_update
boards/nxp/fmuk66-v3/default.cmake
+1 -1
View File
@@ -74,7 +74,7 @@ px4_add_board(
sih sih
vmount vmount
vtol_att_control vtol_att_control
wind_estimator airspeed_selector
SYSTEMCMDS SYSTEMCMDS
bl_update bl_update
boards/omnibus/f4sd/default.cmake
+1 -1
View File
@@ -67,7 +67,7 @@ px4_add_board(
sih sih
#vmount #vmount
#vtol_att_control #vtol_att_control
#wind_estimator #airspeed_selector
SYSTEMCMDS SYSTEMCMDS
#bl_update #bl_update
boards/parrot/bebop/default.cmake
+1 -1
View File
@@ -41,7 +41,7 @@ px4_add_board(
sensors sensors
sih sih
#vtol_att_control #vtol_att_control
wind_estimator airspeed_selector
SYSTEMCMDS SYSTEMCMDS
#config #config
boards/px4/fmu-v2/default.cmake
+1 -1
View File
@@ -86,7 +86,7 @@ px4_add_board(
sensors sensors
vmount vmount
vtol_att_control vtol_att_control
#wind_estimator #airspeed_selector
SYSTEMCMDS SYSTEMCMDS
bl_update bl_update
boards/px4/fmu-v2/fixedwing.cmake
+1 -1
View File
@@ -58,7 +58,7 @@ px4_add_board(
navigator navigator
sensors sensors
vmount vmount
wind_estimator airspeed_selector
SYSTEMCMDS SYSTEMCMDS
bl_update bl_update
boards/px4/fmu-v2/lpe.cmake
+1 -1
View File
@@ -82,7 +82,7 @@ px4_add_board(
sensors sensors
vmount vmount
#vtol_att_control #vtol_att_control
#wind_estimator #airspeed_selector
SYSTEMCMDS SYSTEMCMDS
bl_update bl_update
boards/px4/fmu-v2/test.cmake
+1 -1
View File
@@ -82,7 +82,7 @@ px4_add_board(
sensors sensors
vmount vmount
vtol_att_control vtol_att_control
#wind_estimator #airspeed_selector
SYSTEMCMDS SYSTEMCMDS
#bl_update #bl_update
boards/px4/fmu-v3/default.cmake
+1 -1
View File
@@ -86,7 +86,7 @@ px4_add_board(
sih sih
vmount vmount
vtol_att_control vtol_att_control
wind_estimator airspeed_selector
SYSTEMCMDS SYSTEMCMDS
bl_update bl_update
boards/px4/fmu-v3/rtps.cmake
+1 -1
View File
@@ -86,7 +86,7 @@ px4_add_board(
sih sih
vmount vmount
vtol_att_control vtol_att_control
wind_estimator airspeed_selector
SYSTEMCMDS SYSTEMCMDS
bl_update bl_update
boards/px4/fmu-v3/stackcheck.cmake
+1 -1
View File
@@ -85,7 +85,7 @@ px4_add_board(
sih sih
vmount vmount
vtol_att_control vtol_att_control
wind_estimator airspeed_selector
SYSTEMCMDS SYSTEMCMDS
bl_update bl_update
boards/px4/fmu-v4/default.cmake
+1 -1
View File
@@ -70,7 +70,7 @@ px4_add_board(
sih sih
vmount vmount
vtol_att_control vtol_att_control
wind_estimator airspeed_selector
SYSTEMCMDS SYSTEMCMDS
bl_update bl_update
boards/px4/fmu-v4/rtps.cmake
+1 -1
View File
@@ -73,7 +73,7 @@ px4_add_board(
sih sih
vmount vmount
vtol_att_control vtol_att_control
wind_estimator airspeed_selector
SYSTEMCMDS SYSTEMCMDS
bl_update bl_update
boards/px4/fmu-v4/stackcheck.cmake
+1 -1
View File
@@ -70,7 +70,7 @@ px4_add_board(
sih sih
vmount vmount
vtol_att_control vtol_att_control
wind_estimator airspeed_selector
SYSTEMCMDS SYSTEMCMDS
bl_update bl_update
boards/px4/fmu-v4pro/default.cmake
+1 -1
View File
@@ -84,7 +84,7 @@ px4_add_board(
sih sih
vmount vmount
vtol_att_control vtol_att_control
wind_estimator airspeed_selector
SYSTEMCMDS SYSTEMCMDS
bl_update bl_update
boards/px4/fmu-v4pro/rtps.cmake
+1 -1
View File
@@ -84,7 +84,7 @@ px4_add_board(
sih sih
vmount vmount
vtol_att_control vtol_att_control
wind_estimator airspeed_selector
SYSTEMCMDS SYSTEMCMDS
bl_update bl_update
boards/px4/fmu-v5/default.cmake
+1 -1
View File
@@ -84,7 +84,7 @@ px4_add_board(
sih sih
vmount vmount
vtol_att_control vtol_att_control
wind_estimator airspeed_selector
SYSTEMCMDS SYSTEMCMDS
bl_update bl_update
boards/px4/fmu-v5/fixedwing.cmake
+1 -1
View File
@@ -58,7 +58,7 @@ px4_add_board(
navigator navigator
sensors sensors
vmount vmount
wind_estimator airspeed_selector
SYSTEMCMDS SYSTEMCMDS
bl_update bl_update
boards/px4/fmu-v5/multicopter.cmake
+1 -1
View File
@@ -67,7 +67,7 @@ px4_add_board(
sensors sensors
sih sih
vmount vmount
wind_estimator airspeed_selector
SYSTEMCMDS SYSTEMCMDS
bl_update bl_update
boards/px4/fmu-v5/rtps.cmake
+1 -1
View File
@@ -83,7 +83,7 @@ px4_add_board(
sih sih
vmount vmount
vtol_att_control vtol_att_control
wind_estimator airspeed_selector
SYSTEMCMDS SYSTEMCMDS
bl_update bl_update
boards/px4/fmu-v5/stackcheck.cmake
+1 -1
View File
@@ -83,7 +83,7 @@ px4_add_board(
sih sih
vmount vmount
vtol_att_control vtol_att_control
wind_estimator airspeed_selector
SYSTEMCMDS SYSTEMCMDS
bl_update bl_update
boards/px4/fmu-v5x/default.cmake
+1 -1
View File
@@ -84,7 +84,7 @@ px4_add_board(
sih sih
vmount vmount
vtol_att_control vtol_att_control
wind_estimator airspeed_selector
SYSTEMCMDS SYSTEMCMDS
bl_update bl_update
boards/px4/fmu-v5x/fixedwing.cmake
+1 -1
View File
@@ -68,7 +68,7 @@ px4_add_board(
navigator navigator
sensors sensors
vmount vmount
wind_estimator airspeed_selector
SYSTEMCMDS SYSTEMCMDS
bl_update bl_update
boards/px4/fmu-v5x/multicopter.cmake
+1 -1
View File
@@ -74,7 +74,7 @@ px4_add_board(
sensors sensors
sih sih
vmount vmount
wind_estimator airspeed_selector
SYSTEMCMDS SYSTEMCMDS
bl_update bl_update
boards/px4/fmu-v5x/rtps.cmake
+1 -1
View File
@@ -85,7 +85,7 @@ px4_add_board(
sih sih
vmount vmount
vtol_att_control vtol_att_control
wind_estimator airspeed_selector
SYSTEMCMDS SYSTEMCMDS
bl_update bl_update
boards/px4/fmu-v5x/stackcheck.cmake
+1 -1
View File
@@ -84,7 +84,7 @@ px4_add_board(
sih sih
vmount vmount
vtol_att_control vtol_att_control
wind_estimator airspeed_selector
SYSTEMCMDS SYSTEMCMDS
bl_update bl_update
boards/px4/raspberrypi/cross.cmake
+1 -1
View File
@@ -47,7 +47,7 @@ px4_add_board(
sih sih
vmount vmount
vtol_att_control vtol_att_control
wind_estimator airspeed_selector
SYSTEMCMDS SYSTEMCMDS
dyn dyn
boards/px4/raspberrypi/native.cmake
+1 -1
View File
@@ -46,7 +46,7 @@ px4_add_board(
#simulator #simulator
vmount vmount
vtol_att_control vtol_att_control
wind_estimator airspeed_selector
SYSTEMCMDS SYSTEMCMDS
dyn dyn

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