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refactor(airspeed_selector): convert params.c to module.yaml

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Convert 1 parameter file(s) from legacy C format to YAML
module configuration.
This commit is contained in:
Jacob Dahl
2026-03-17 21:55:33 -08:00
committed by Jacob Dahl
parent 50ba878e1e
commit e95d1d1e8e
3 changed files with 219 additions and 252 deletions
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src/modules/airspeed_selector/CMakeLists.txt
+2
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@@ -37,6 +37,8 @@ px4_add_module(
airspeed_selector_main.cpp airspeed_selector_main.cpp
AirspeedValidator.cpp AirspeedValidator.cpp
AirspeedValidator.hpp AirspeedValidator.hpp
MODULE_CONFIG
airspeed_selector_params.yaml
DEPENDS DEPENDS
wind_estimator wind_estimator
) )
src/modules/airspeed_selector/airspeed_selector_params.c
-252
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@@ -1,252 +0,0 @@
/**
* Wind estimator wind process noise spectral density
*
* Wind process noise of the internal wind estimator(s) of the airspeed selector.
* When unaided, the wind estimate uncertainty (1-sigma, in m/s) increases by this amount every second.
*
* @min 0
* @max 1
* @unit m/s^2/sqrt(Hz)
* @decimal 2
* @group Airspeed Validator
*/
PARAM_DEFINE_FLOAT(ASPD_WIND_NSD, 1.e-1f);
/**
* Wind estimator true airspeed scale process noise spectral density
*
* Airspeed scale process noise of the internal wind estimator(s) of the airspeed selector.
* When unaided, the scale uncertainty (1-sigma, unitless) increases by this amount every second.
*
* @min 0
* @max 0.1
* @unit 1/s/sqrt(Hz)
* @decimal 5
* @group Airspeed Validator
*/
PARAM_DEFINE_FLOAT(ASPD_SCALE_NSD, 1.e-4f);
/**
* Wind estimator true airspeed measurement noise
*
* True airspeed measurement noise of the internal wind estimator(s) of the airspeed selector.
*
* @min 0
* @max 4
* @unit m/s
* @decimal 1
* @group Airspeed Validator
*/
PARAM_DEFINE_FLOAT(ASPD_TAS_NOISE, 1.4f);
/**
* Wind estimator sideslip measurement noise
*
* Sideslip measurement noise of the internal wind estimator(s) of the airspeed selector.
*
* @min 0
* @max 1
* @unit rad
* @decimal 3
* @group Airspeed Validator
*/
PARAM_DEFINE_FLOAT(ASPD_BETA_NOISE, 0.15f);
/**
* Gate size for true airspeed fusion
*
* Sets the number of standard deviations used by the innovation consistency test.
*
* @min 1
* @max 5
* @unit SD
* @group Airspeed Validator
*/
PARAM_DEFINE_INT32(ASPD_TAS_GATE, 4);
/**
* Gate size for sideslip angle fusion
*
* Sets the number of standard deviations used by the innovation consistency test.
*
* @min 1
* @max 5
* @unit SD
* @group Airspeed Validator
*/
PARAM_DEFINE_INT32(ASPD_BETA_GATE, 1);
/**
* Controls when to apply the new estimated airspeed scale(s)
*
* @value 0 Do not automatically apply the estimated scale
* @value 1 Apply the estimated scale after disarm
* @value 2 Apply the estimated scale in air
* @group Airspeed Validator
*/
PARAM_DEFINE_INT32(ASPD_SCALE_APPLY, 2);
/**
* Scale of airspeed sensor 1
*
* This is the scale IAS --> CAS of the first airspeed sensor instance
*
* @min 0.5
* @max 2.0
* @decimal 2
* @group Airspeed Validator
*/
PARAM_DEFINE_FLOAT(ASPD_SCALE_1, 1.0f);
/**
* Scale of airspeed sensor 2
*
* This is the scale IAS --> CAS of the second airspeed sensor instance
*
* @min 0.5
* @max 2.0
* @decimal 2
* @group Airspeed Validator
*/
PARAM_DEFINE_FLOAT(ASPD_SCALE_2, 1.0f);
/**
* Scale of airspeed sensor 3
*
* This is the scale IAS --> CAS of the third airspeed sensor instance
*
* @min 0.5
* @max 2.0
* @decimal 2
* @group Airspeed Validator
*/
PARAM_DEFINE_FLOAT(ASPD_SCALE_3, 1.0f);
/**
* Index or primary airspeed measurement source
*
* @value 0 Groundspeed minus windspeed
* @value 1 First airspeed sensor
* @value 2 Second airspeed sensor
* @value 3 Third airspeed sensor
* @value 4 Thrust based airspeed
*
* @reboot_required true
* @group Airspeed Validator
*/
PARAM_DEFINE_INT32(ASPD_PRIMARY, 1);
/**
* Enable checks on airspeed sensors
*
* Controls which checks are run to check airspeed data for validity. Only applied if ASPD_PRIMARY > 0.
*
* Note: The missing data check (bit 0) is implicitly always enabled when ASPD_DO_CHECKS > 0, even if bit 0 is not explicitly set.
*
* @min 0
* @max 31
* @bit 0 Only data missing check (triggers if more than 1s no data)
* @bit 1 Data stuck (triggers if data is exactly constant for 2s in FW mode)
* @bit 2 Innovation check (see ASPD_FS_INNOV)
* @bit 3 Load factor check (triggers if measurement is below stall speed)
* @bit 4 First principle check (airspeed change vs. throttle and pitch)
* @group Airspeed Validator
*/
PARAM_DEFINE_INT32(ASPD_DO_CHECKS, 7);
/**
* Fallback options
*
* @value 0 Fallback only to other airspeed sensors
* @value 1 Fallback to groundspeed-minus-windspeed airspeed estimation
* @value 2 Fallback to thrust based airspeed estimation
* @group Airspeed Validator
*/
PARAM_DEFINE_INT32(ASPD_FALLBACK, 0);
/**
* Airspeed failure innovation threshold
*
* This specifies the minimum airspeed innovation required to trigger a failsafe. Larger values make the check less sensitive,
* smaller values make it more sensitive. Large innovations indicate an inconsistency between predicted (groundspeed - windspeeed)
* and measured airspeed.
* The time required to detect a fault when the threshold is exceeded depends on the size of the exceedance and is controlled by the ASPD_FS_INTEG parameter.
*
* @unit m/s
* @min 0.5
* @max 10.0
* @decimal 1
* @group Airspeed Validator
*/
PARAM_DEFINE_FLOAT(ASPD_FS_INNOV, 5.f);
/**
* Airspeed failure innovation integral threshold
*
* This sets the time integral of airspeed innovation exceedance above ASPD_FS_INNOV required to trigger a failsafe.
* Larger values make the check less sensitive, smaller positive values make it more sensitive.
*
* @unit m
* @min 0.0
* @max 50.0
* @decimal 1
* @group Airspeed Validator
*/
PARAM_DEFINE_FLOAT(ASPD_FS_INTEG, 10.f);
/**
* Airspeed failsafe stop delay
*
* Delay before stopping use of airspeed sensor if checks indicate sensor is bad.
*
* @unit s
* @group Airspeed Validator
* @min 0.0
* @decimal 1
*/
PARAM_DEFINE_FLOAT(ASPD_FS_T_STOP, 1.f);
/**
* Airspeed failsafe start delay
*
* Delay before switching back to using airspeed sensor if checks indicate sensor is good.
* Set to a negative value to disable the re-enabling in flight.
*
* @unit s
* @group Airspeed Validator
* @min -1.0
* @decimal 1
*/
PARAM_DEFINE_FLOAT(ASPD_FS_T_START, -1.f);
/**
* Horizontal wind uncertainty threshold for valid ground-minus-wind
*
* The airspeed alternative derived from groundspeed and heading will be declared valid
* as soon and as long the horizontal wind uncertainty is below this value.
*
* @unit m/s
* @min 0.01
* @max 5
* @decimal 2
* @group Airspeed Validator
*/
PARAM_DEFINE_FLOAT(ASPD_WERR_THR, 2.f);
/**
* First principle airspeed check time window
*
* Window for comparing airspeed change to throttle and pitch change.
* Triggers when the airspeed change within this window is negative while throttle increases
* and the vehicle pitches down.
* Is meant to catch degrading airspeed blockages as can happen when flying through icing conditions.
* Relies on FW_THR_TRIM being set accurately.
*
* @unit s
* @min 0
* @decimal 1
* @group Airspeed Validator
*/
PARAM_DEFINE_FLOAT(ASPD_FP_T_WINDOW, 2.0f);
src/modules/airspeed_selector/airspeed_selector_params.yaml
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@@ -0,0 +1,217 @@
module_name: airspeed_selector
parameters:
- group: Airspeed Validator
definitions:
ASPD_WIND_NSD:
description:
short: Wind estimator wind process noise spectral density
long: |-
Wind process noise of the internal wind estimator(s) of the airspeed selector.
When unaided, the wind estimate uncertainty (1-sigma, in m/s) increases by this amount every second.
type: float
default: 0.1
min: 0
max: 1
unit: m/s^2/sqrt(Hz)
decimal: 2
ASPD_SCALE_NSD:
description:
short: Wind estimator true airspeed scale process noise spectral density
long: |-
Airspeed scale process noise of the internal wind estimator(s) of the airspeed selector.
When unaided, the scale uncertainty (1-sigma, unitless) increases by this amount every second.
type: float
default: 0.0001
min: 0
max: 0.1
unit: 1/s/sqrt(Hz)
decimal: 5
ASPD_TAS_NOISE:
description:
short: Wind estimator true airspeed measurement noise
long: True airspeed measurement noise of the internal wind estimator(s) of
the airspeed selector.
type: float
default: 1.4
min: 0
max: 4
unit: m/s
decimal: 1
ASPD_BETA_NOISE:
description:
short: Wind estimator sideslip measurement noise
long: Sideslip measurement noise of the internal wind estimator(s) of the
airspeed selector.
type: float
default: 0.15
min: 0
max: 1
unit: rad
decimal: 3
ASPD_TAS_GATE:
description:
short: Gate size for true airspeed fusion
long: Sets the number of standard deviations used by the innovation consistency
test.
type: int32
default: 4
min: 1
max: 5
unit: SD
ASPD_BETA_GATE:
description:
short: Gate size for sideslip angle fusion
long: Sets the number of standard deviations used by the innovation consistency
test.
type: int32
default: 1
min: 1
max: 5
unit: SD
ASPD_SCALE_APPLY:
description:
short: Controls when to apply the new estimated airspeed scale(s)
type: enum
values:
0: Do not automatically apply the estimated scale
1: Apply the estimated scale after disarm
2: Apply the estimated scale in air
default: 2
ASPD_SCALE_1:
description:
short: Scale of airspeed sensor 1
long: This is the scale IAS --> CAS of the first airspeed sensor instance
type: float
default: 1.0
min: 0.5
max: 2.0
decimal: 2
ASPD_SCALE_2:
description:
short: Scale of airspeed sensor 2
long: This is the scale IAS --> CAS of the second airspeed sensor instance
type: float
default: 1.0
min: 0.5
max: 2.0
decimal: 2
ASPD_SCALE_3:
description:
short: Scale of airspeed sensor 3
long: This is the scale IAS --> CAS of the third airspeed sensor instance
type: float
default: 1.0
min: 0.5
max: 2.0
decimal: 2
ASPD_PRIMARY:
description:
short: Index or primary airspeed measurement source
type: enum
values:
0: Groundspeed minus windspeed
1: First airspeed sensor
2: Second airspeed sensor
3: Third airspeed sensor
4: Thrust based airspeed
default: 1
reboot_required: true
ASPD_DO_CHECKS:
description:
short: Enable checks on airspeed sensors
long: |-
Controls which checks are run to check airspeed data for validity. Only applied if ASPD_PRIMARY > 0.
Note: The missing data check (bit 0) is implicitly always enabled when ASPD_DO_CHECKS > 0, even if bit 0 is not explicitly set.
type: bitmask
bit:
0: Only data missing check (triggers if more than 1s no data)
1: Data stuck (triggers if data is exactly constant for 2s in FW mode)
2: Innovation check (see ASPD_FS_INNOV)
3: Load factor check (triggers if measurement is below stall speed)
4: First principle check (airspeed change vs. throttle and pitch)
default: 7
min: 0
max: 31
ASPD_FALLBACK:
description:
short: Fallback options
type: enum
values:
0: Fallback only to other airspeed sensors
1: Fallback to groundspeed-minus-windspeed airspeed estimation
2: Fallback to thrust based airspeed estimation
default: 0
ASPD_FS_INNOV:
description:
short: Airspeed failure innovation threshold
long: |-
This specifies the minimum airspeed innovation required to trigger a failsafe. Larger values make the check less sensitive,
smaller values make it more sensitive. Large innovations indicate an inconsistency between predicted (groundspeed - windspeeed)
and measured airspeed.
The time required to detect a fault when the threshold is exceeded depends on the size of the exceedance and is controlled by the ASPD_FS_INTEG parameter.
type: float
default: 5.0
unit: m/s
min: 0.5
max: 10.0
decimal: 1
ASPD_FS_INTEG:
description:
short: Airspeed failure innovation integral threshold
long: |-
This sets the time integral of airspeed innovation exceedance above ASPD_FS_INNOV required to trigger a failsafe.
Larger values make the check less sensitive, smaller positive values make it more sensitive.
type: float
default: 10.0
unit: m
min: 0.0
max: 50.0
decimal: 1
ASPD_FS_T_STOP:
description:
short: Airspeed failsafe stop delay
long: Delay before stopping use of airspeed sensor if checks indicate sensor
is bad.
type: float
default: 1.0
unit: s
min: 0.0
decimal: 1
ASPD_FS_T_START:
description:
short: Airspeed failsafe start delay
long: |-
Delay before switching back to using airspeed sensor if checks indicate sensor is good.
Set to a negative value to disable the re-enabling in flight.
type: float
default: -1.0
unit: s
min: -1.0
decimal: 1
ASPD_WERR_THR:
description:
short: Horizontal wind uncertainty threshold for valid ground-minus-wind
long: |-
The airspeed alternative derived from groundspeed and heading will be declared valid
as soon and as long the horizontal wind uncertainty is below this value.
type: float
default: 2.0
unit: m/s
min: 0.01
max: 5
decimal: 2
ASPD_FP_T_WINDOW:
description:
short: First principle airspeed check time window
long: |-
Window for comparing airspeed change to throttle and pitch change.
Triggers when the airspeed change within this window is negative while throttle increases
and the vehicle pitches down.
Is meant to catch degrading airspeed blockages as can happen when flying through icing conditions.
Relies on FW_THR_TRIM being set accurately.
type: float
default: 2.0
unit: s
min: 0
decimal: 1