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

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>
2026-05-22 01:12:31 +00:00 · 2019-08-07 13:06:00 +02:00
parent 970e362e9a
commit cedf14e2ba
65 changed files with 767 additions and 461 deletions
--- a/boards/aerotenna/ocpoc/ubuntu.cmake
+++ b/boards/aerotenna/ocpoc/ubuntu.cmake
@@ -52,7 +52,7 @@ px4_add_board(
 		#simulator
 		vmount
 		vtol_att_control
-		wind_estimator
+		airspeed_selector

 	SYSTEMCMDS
 		esc_calib
--- a/boards/airmind/mindpx-v2/default.cmake
+++ b/boards/airmind/mindpx-v2/default.cmake
@@ -72,7 +72,7 @@ px4_add_board(
 		sih
 		vmount
 		vtol_att_control
-		wind_estimator
+		airspeed_selector

 	SYSTEMCMDS
 		bl_update
--- a/boards/atlflight/eagle/default.cmake
+++ b/boards/atlflight/eagle/default.cmake
@@ -87,7 +87,7 @@ px4_add_board(
 		simulator
 		vmount
 		vtol_att_control
-		wind_estimator
+		airspeed_selector

 	SYSTEMCMDS
 		#bl_update
--- a/boards/atlflight/eagle/qurt-default.cmake
+++ b/boards/atlflight/eagle/qurt-default.cmake
@@ -76,7 +76,7 @@ px4_add_board(
 		#sih
 		vmount
 		vtol_att_control
-		wind_estimator
+		airspeed_selector

 	SYSTEMCMDS
 		param
--- a/boards/atlflight/excelsior/default.cmake
+++ b/boards/atlflight/excelsior/default.cmake
@@ -87,7 +87,7 @@ px4_add_board(
 		simulator
 		vmount
 		vtol_att_control
-		wind_estimator
+		airspeed_selector

 	SYSTEMCMDS
 		#bl_update
--- a/boards/atlflight/excelsior/qurt-default.cmake
+++ b/boards/atlflight/excelsior/qurt-default.cmake
@@ -76,7 +76,7 @@ px4_add_board(
 		sih
 		vmount
 		vtol_att_control
-		wind_estimator
+		airspeed_selector

 	SYSTEMCMDS
 		param
--- a/boards/auav/x21/default.cmake
+++ b/boards/auav/x21/default.cmake
@@ -78,7 +78,7 @@ px4_add_board(
 		sih
 		vmount
 		vtol_att_control
-		wind_estimator
+		airspeed_selector

 	SYSTEMCMDS
 		bl_update
--- a/boards/av/x-v1/default.cmake
+++ b/boards/av/x-v1/default.cmake
@@ -79,7 +79,7 @@ px4_add_board(
 		sih
 		vmount
 		vtol_att_control
-		wind_estimator
+		airspeed_selector

 	SYSTEMCMDS
 		#bl_update
--- a/boards/beaglebone/blue/cross.cmake
+++ b/boards/beaglebone/blue/cross.cmake
@@ -50,7 +50,7 @@ px4_add_board(
 		sih
 		vmount
 		vtol_att_control
-		wind_estimator
+		airspeed_selector

 	SYSTEMCMDS
 		esc_calib
--- a/boards/beaglebone/blue/native.cmake
+++ b/boards/beaglebone/blue/native.cmake
@@ -48,7 +48,7 @@ px4_add_board(
 		sih
 		vmount
 		vtol_att_control
-		wind_estimator
+		airspeed_selector

 	SYSTEMCMDS
 		esc_calib
--- a/boards/bitcraze/crazyflie/default.cmake
+++ b/boards/bitcraze/crazyflie/default.cmake
@@ -38,7 +38,7 @@ px4_add_board(
 		sensors
 		sih
 		#vtol_att_control
-		wind_estimator
+		airspeed_selector

 	SYSTEMCMDS
 		bl_update
--- a/boards/emlid/navio2/cross.cmake
+++ b/boards/emlid/navio2/cross.cmake
@@ -55,7 +55,7 @@ px4_add_board(
 		#simulator
 		vmount
 		vtol_att_control
-		wind_estimator
+		airspeed_selector

 	SYSTEMCMDS
 		dyn
--- a/boards/emlid/navio2/native.cmake
+++ b/boards/emlid/navio2/native.cmake
@@ -53,7 +53,7 @@ px4_add_board(
 		#simulator
 		vmount
 		vtol_att_control
-		wind_estimator
+		airspeed_selector

 	SYSTEMCMDS
 		dyn
--- a/boards/intel/aerofc-v1/default.cmake
+++ b/boards/intel/aerofc-v1/default.cmake
@@ -55,7 +55,7 @@ px4_add_board(
 		sih
 		vmount
 		#vtol_att_control
-		#wind_estimator
+		#airspeed_selector

 	SYSTEMCMDS
 		bl_update
--- a/boards/intel/aerofc-v1/rtps.cmake
+++ b/boards/intel/aerofc-v1/rtps.cmake
@@ -59,7 +59,7 @@ px4_add_board(
 		sih
 		vmount
 		#vtol_att_control
-		#wind_estimator
+		#airspeed_selector

 	SYSTEMCMDS
 		bl_update
--- a/boards/nxp/fmuk66-v3/default.cmake
+++ b/boards/nxp/fmuk66-v3/default.cmake
@@ -74,7 +74,7 @@ px4_add_board(
 		sih
 		vmount
 		vtol_att_control
-		wind_estimator
+		airspeed_selector

 	SYSTEMCMDS
 		bl_update
--- a/boards/omnibus/f4sd/default.cmake
+++ b/boards/omnibus/f4sd/default.cmake
@@ -67,7 +67,7 @@ px4_add_board(
 		sih
 		#vmount
 		#vtol_att_control
-		#wind_estimator
+		#airspeed_selector

 	SYSTEMCMDS
 		#bl_update
--- a/boards/parrot/bebop/default.cmake
+++ b/boards/parrot/bebop/default.cmake
@@ -41,7 +41,7 @@ px4_add_board(
 		sensors
 		sih
 		#vtol_att_control
-		wind_estimator
+		airspeed_selector

 	SYSTEMCMDS
 		#config
--- a/boards/px4/fmu-v2/default.cmake
+++ b/boards/px4/fmu-v2/default.cmake
@@ -86,7 +86,7 @@ px4_add_board(
 		sensors
 		vmount
 		vtol_att_control
-		#wind_estimator
+		#airspeed_selector

 	SYSTEMCMDS
 		bl_update
--- a/boards/px4/fmu-v2/fixedwing.cmake
+++ b/boards/px4/fmu-v2/fixedwing.cmake
@@ -58,7 +58,7 @@ px4_add_board(
 		navigator
 		sensors
 		vmount
-		wind_estimator
+		airspeed_selector

 	SYSTEMCMDS
 		bl_update
--- a/boards/px4/fmu-v2/lpe.cmake
+++ b/boards/px4/fmu-v2/lpe.cmake
@@ -82,7 +82,7 @@ px4_add_board(
 		sensors
 		vmount
 		#vtol_att_control
-		#wind_estimator
+		#airspeed_selector

 	SYSTEMCMDS
 		bl_update
--- a/boards/px4/fmu-v2/test.cmake
+++ b/boards/px4/fmu-v2/test.cmake
@@ -82,7 +82,7 @@ px4_add_board(
 		sensors
 		vmount
 		vtol_att_control
-		#wind_estimator
+		#airspeed_selector

 	SYSTEMCMDS
 		#bl_update
--- a/boards/px4/fmu-v3/default.cmake
+++ b/boards/px4/fmu-v3/default.cmake
@@ -86,7 +86,7 @@ px4_add_board(
 		sih
 		vmount
 		vtol_att_control
-		wind_estimator
+		airspeed_selector

 	SYSTEMCMDS
 		bl_update
--- a/boards/px4/fmu-v3/rtps.cmake
+++ b/boards/px4/fmu-v3/rtps.cmake
@@ -86,7 +86,7 @@ px4_add_board(
 		sih
 		vmount
 		vtol_att_control
-		wind_estimator
+		airspeed_selector

 	SYSTEMCMDS
 		bl_update
--- a/boards/px4/fmu-v3/stackcheck.cmake
+++ b/boards/px4/fmu-v3/stackcheck.cmake
@@ -85,7 +85,7 @@ px4_add_board(
 		sih
 		vmount
 		vtol_att_control
-		wind_estimator
+		airspeed_selector

 	SYSTEMCMDS
 		bl_update
--- a/boards/px4/fmu-v4/default.cmake
+++ b/boards/px4/fmu-v4/default.cmake
@@ -70,7 +70,7 @@ px4_add_board(
 		sih
 		vmount
 		vtol_att_control
-		wind_estimator
+		airspeed_selector

 	SYSTEMCMDS
 		bl_update
--- a/boards/px4/fmu-v4/rtps.cmake
+++ b/boards/px4/fmu-v4/rtps.cmake
@@ -73,7 +73,7 @@ px4_add_board(
 		sih
 		vmount
 		vtol_att_control
-		wind_estimator
+		airspeed_selector

 	SYSTEMCMDS
 		bl_update
--- a/boards/px4/fmu-v4/stackcheck.cmake
+++ b/boards/px4/fmu-v4/stackcheck.cmake
@@ -70,7 +70,7 @@ px4_add_board(
 		sih
 		vmount
 		vtol_att_control
-		wind_estimator
+		airspeed_selector

 	SYSTEMCMDS
 		bl_update
--- a/boards/px4/fmu-v4pro/default.cmake
+++ b/boards/px4/fmu-v4pro/default.cmake
@@ -84,7 +84,7 @@ px4_add_board(
 		sih
 		vmount
 		vtol_att_control
-		wind_estimator
+		airspeed_selector

 	SYSTEMCMDS
 		bl_update
--- a/boards/px4/fmu-v4pro/rtps.cmake
+++ b/boards/px4/fmu-v4pro/rtps.cmake
@@ -84,7 +84,7 @@ px4_add_board(
 		sih
 		vmount
 		vtol_att_control
-		wind_estimator
+		airspeed_selector

 	SYSTEMCMDS
 		bl_update
--- a/boards/px4/fmu-v5/default.cmake
+++ b/boards/px4/fmu-v5/default.cmake
@@ -84,7 +84,7 @@ px4_add_board(
 		sih
 		vmount
 		vtol_att_control
-		wind_estimator
+		airspeed_selector

 	SYSTEMCMDS
 		bl_update
--- a/boards/px4/fmu-v5/fixedwing.cmake
+++ b/boards/px4/fmu-v5/fixedwing.cmake
@@ -58,7 +58,7 @@ px4_add_board(
 		navigator
 		sensors
 		vmount
-		wind_estimator
+		airspeed_selector

 	SYSTEMCMDS
 		bl_update
--- a/boards/px4/fmu-v5/multicopter.cmake
+++ b/boards/px4/fmu-v5/multicopter.cmake
@@ -67,7 +67,7 @@ px4_add_board(
 		sensors
 		sih
 		vmount
-		wind_estimator
+		airspeed_selector

 	SYSTEMCMDS
 		bl_update
--- a/boards/px4/fmu-v5/rtps.cmake
+++ b/boards/px4/fmu-v5/rtps.cmake
@@ -83,7 +83,7 @@ px4_add_board(
 		sih
 		vmount
 		vtol_att_control
-		wind_estimator
+		airspeed_selector

 	SYSTEMCMDS
 		bl_update
--- a/boards/px4/fmu-v5/stackcheck.cmake
+++ b/boards/px4/fmu-v5/stackcheck.cmake
@@ -83,7 +83,7 @@ px4_add_board(
 		sih
 		vmount
 		vtol_att_control
-		wind_estimator
+		airspeed_selector

 	SYSTEMCMDS
 		bl_update
--- a/boards/px4/fmu-v5x/default.cmake
+++ b/boards/px4/fmu-v5x/default.cmake
@@ -84,7 +84,7 @@ px4_add_board(
 		sih
 		vmount
 		vtol_att_control
-		wind_estimator
+		airspeed_selector

 	SYSTEMCMDS
 		bl_update
--- a/boards/px4/fmu-v5x/fixedwing.cmake
+++ b/boards/px4/fmu-v5x/fixedwing.cmake
@@ -68,7 +68,7 @@ px4_add_board(
 		navigator
 		sensors
 		vmount
-		wind_estimator
+		airspeed_selector

 	SYSTEMCMDS
 		bl_update
--- a/boards/px4/fmu-v5x/multicopter.cmake
+++ b/boards/px4/fmu-v5x/multicopter.cmake
@@ -74,7 +74,7 @@ px4_add_board(
 		sensors
 		sih
 		vmount
-		wind_estimator
+		airspeed_selector

 	SYSTEMCMDS
 		bl_update
--- a/boards/px4/fmu-v5x/rtps.cmake
+++ b/boards/px4/fmu-v5x/rtps.cmake
@@ -85,7 +85,7 @@ px4_add_board(
 		sih
 		vmount
 		vtol_att_control
-		wind_estimator
+		airspeed_selector

 	SYSTEMCMDS
 		bl_update
--- a/boards/px4/fmu-v5x/stackcheck.cmake
+++ b/boards/px4/fmu-v5x/stackcheck.cmake
@@ -84,7 +84,7 @@ px4_add_board(
 		sih
 		vmount
 		vtol_att_control
-		wind_estimator
+		airspeed_selector

 	SYSTEMCMDS
 		bl_update
--- a/boards/px4/raspberrypi/cross.cmake
+++ b/boards/px4/raspberrypi/cross.cmake
@@ -47,7 +47,7 @@ px4_add_board(
 		sih
 		vmount
 		vtol_att_control
-		wind_estimator
+		airspeed_selector

 	SYSTEMCMDS
 		dyn
--- a/boards/px4/raspberrypi/native.cmake
+++ b/boards/px4/raspberrypi/native.cmake
@@ -46,7 +46,7 @@ px4_add_board(
 		#simulator
 		vmount
 		vtol_att_control
-		wind_estimator
+		airspeed_selector

 	SYSTEMCMDS
 		dyn
--- a/boards/px4/sitl/default.cmake
+++ b/boards/px4/sitl/default.cmake
@@ -45,7 +45,7 @@ px4_add_board(
 		simulator
 		vmount
 		vtol_att_control
-		wind_estimator
+		airspeed_selector

 	SYSTEMCMDS
 		#bl_update
--- a/boards/px4/sitl/rtps.cmake
+++ b/boards/px4/sitl/rtps.cmake
@@ -46,7 +46,7 @@ px4_add_board(
 		simulator
 		vmount
 		vtol_att_control
-		wind_estimator
+		airspeed_selector

 	SYSTEMCMDS
 		#bl_update
--- a/boards/px4/sitl/test.cmake
+++ b/boards/px4/sitl/test.cmake
@@ -45,7 +45,7 @@ px4_add_board(
 		simulator
 		vmount
 		vtol_att_control
-		wind_estimator
+		airspeed_selector

 	SYSTEMCMDS
 		#bl_update