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Airspeed consistency check with onboard wind estimation (#3478)
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* initial commit airspeed consistency check module
* small edit
* address comments
* use INFO_MSG for airspeed consistency module
This commit is contained in:
NoahWe
2025-07-01 10:07:35 +02:00
committed by GitHub
parent b7aad07a04
commit 07558af7a2
14 changed files with 442 additions and 18 deletions
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conf/airframes/tudelft/rotwing_v3b.xml
+1
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@@ -143,6 +143,7 @@
<module name="rotwing_state"/>
<module name="preflight_checks"/>
<module name="pfc_actuators"/>
<module name="airspeed_consistency"/>
<module name="agl_dist"/>
<module name="approach_moving_target"/>
</firmware>
conf/airframes/tudelft/rotwing_v3d.xml
+1
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@@ -136,6 +136,7 @@
<define name="SDLOG_PREFLIGHT_ERROR" value="TRUE"/>
</module>
<module name="pfc_actuators"/>
<module name="airspeed_consistency"/>
<module name="agl_dist"/>
<module name="approach_moving_target"/>
</firmware>
conf/airframes/tudelft/rotwing_v3e.xml
+1
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@@ -136,6 +136,7 @@
<define name="SDLOG_PREFLIGHT_ERROR" value="TRUE"/>
</module>
<module name="pfc_actuators"/>
<module name="airspeed_consistency"/>
<module name="agl_dist"/>
<module name="approach_moving_target"/>
</firmware>
conf/airframes/tudelft/rotwing_v3f.xml
+1
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@@ -134,6 +134,7 @@
<define name="SDLOG_PREFLIGHT_ERROR" value="TRUE"/>
</module>
<module name="pfc_actuators"/>
<module name="airspeed_consistency"/>
<module name="agl_dist"/>
<module name="approach_moving_target"/>
</firmware>
conf/airframes/tudelft/rotwing_v3g.xml
+1
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@@ -136,6 +136,7 @@
<define name="SDLOG_PREFLIGHT_ERROR" value="TRUE"/>
</module>
<module name="pfc_actuators"/>
<module name="airspeed_consistency"/>
<module name="agl_dist"/>
<module name="approach_moving_target"/>
</firmware>
conf/airframes/tudelft/rotwing_v3h.xml
+1
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@@ -136,6 +136,7 @@
<define name="SDLOG_PREFLIGHT_ERROR" value="TRUE"/>
</module>
<module name="pfc_actuators"/>
<module name="airspeed_consistency"/>
<module name="agl_dist"/>
<module name="approach_moving_target"/>
</firmware>
conf/modules/airspeed_consistency.xml
+28
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@@ -0,0 +1,28 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="airspeed_consistency" dir="checks">
<doc>
<description>
Check consistency of airspeed measurements while flying circles.
</description>
</doc>
<settings>
<dl_settings>
<dl_settings NAME="Airspeed Consistency">
<dl_setting var="asc_reset" min="0" max="1" step="1" values="FALSE|TRUE" type="bool" module="modules/checks/airspeed_consistency" handler="reset"/>
</dl_settings>
</dl_settings>
</settings>
<dep>
<depends></depends>
</dep>
<header>
<file name="airspeed_consistency.h"/>
</header>
<init fun="airspeed_consistency_init()"/>
<periodic fun="airspeed_consistency_periodic()" freq="1"/>
<makefile>
<file name="airspeed_consistency.c"/>
<file name="pprz_circfit_float.c" dir="math"/>
</makefile>
</module>
conf/userconf/tudelft/conf.xml
+1 -1
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@@ -601,7 +601,7 @@
telemetry="telemetry/highspeed_rotorcraft.xml"
flight_plan="flight_plans/tudelft/rotwing_EHVB.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/airspeed_uavcan.xml modules/approach_moving_target.xml modules/eff_scheduling_rotwing.xml modules/ekf_aw.xml modules/electrical.xml modules/follow_me.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/parachute.xml modules/pfc_actuators.xml modules/preflight_checks.xml modules/rotwing_state.xml modules/stabilization_indi.xml modules/sys_id_auto_doublets.xml modules/sys_id_doublet.xml modules/target_pos.xml"
settings_modules="modules/air_data.xml modules/airspeed_consistency.xml modules/airspeed_ms45xx_i2c.xml modules/airspeed_uavcan.xml modules/approach_moving_target.xml modules/eff_scheduling_rotwing.xml modules/ekf_aw.xml modules/electrical.xml modules/follow_me.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/parachute.xml modules/pfc_actuators.xml modules/preflight_checks.xml modules/rotwing_state.xml modules/stabilization_indi.xml modules/sys_id_auto_doublets.xml modules/sys_id_doublet.xml modules/target_pos.xml"
gui_color="red"
/>
<aircraft