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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
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6
src/modules/sensors/sensors.cpp
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@@ -346,14 +346,14 @@ Sensors::diff_pres_poll(const vehicle_air_data_s &raw)
}
/* don't risk to feed negative airspeed into the system */
airspeed.indicated_airspeed_m_s = calc_indicated_airspeed_corrected((enum AIRSPEED_COMPENSATION_MODEL)
airspeed.indicated_airspeed_m_s = calc_IAS_corrected((enum AIRSPEED_COMPENSATION_MODEL)
_parameters.air_cmodel,
smodel, _parameters.air_tube_length, _parameters.air_tube_diameter_mm,
diff_pres.differential_pressure_filtered_pa, raw.baro_pressure_pa,
air_temperature_celsius);
airspeed.true_airspeed_m_s = calc_true_airspeed_from_indicated(airspeed.indicated_airspeed_m_s, raw.baro_pressure_pa,
air_temperature_celsius);
airspeed.true_airspeed_m_s = calc_TAS_from_EAS(airspeed.indicated_airspeed_m_s, raw.baro_pressure_pa,
air_temperature_celsius); // assume that EAS = IAS as we don't have an EAS-scale here
airspeed.air_temperature_celsius = air_temperature_celsius;