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Airspeed Selector: repurpose wind estimator into an airspeed (selecti…
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…on, 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>
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@sfuhrer @RomanBapst
sfuhrer authored and RomanBapst committed Aug 9, 2019
1 parent 970e362 commit cedf14e
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Showing 65 changed files with 767 additions and 461 deletions.
1 change: 0 additions & 1 deletion ROMFS/px4fmu_common/init.d-posix/1030_plane
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Expand Up @@ -37,7 +37,6 @@ then

param set RWTO_TKOFF 1

param set WEST_EN 1
fi

set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
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1 change: 0 additions & 1 deletion ROMFS/px4fmu_common/init.d-posix/1040_standard_vtol
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Expand Up @@ -38,7 +38,6 @@ then
param set VT_MOT_COUNT 4
param set VT_TYPE 2

param set WEST_EN 1
fi

set MAV_TYPE 22
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1 change: 0 additions & 1 deletion ROMFS/px4fmu_common/init.d-posix/1041_tailsitter
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Expand Up @@ -38,7 +38,6 @@ then
param set VT_MOT_COUNT 0
param set VT_TYPE 0

param set WEST_EN 1
fi

set MAV_TYPE 20
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1 change: 0 additions & 1 deletion ROMFS/px4fmu_common/init.d-posix/1042_tiltrotor
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Expand Up @@ -41,7 +41,6 @@ then
param set VT_ELEV_MC_LOCK 0
param set VT_TYPE 1

param set WEST_EN 1
fi

set MAV_TYPE 21
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5 changes: 0 additions & 5 deletions ROMFS/px4fmu_common/init.d-posix/rcS
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Expand Up @@ -164,7 +164,6 @@ then

param set TRIG_INTERFACE 3

param set WEST_EN 0
fi

# Adapt timeout parameters if simulation runs faster or slower than realtime.
Expand Down Expand Up @@ -213,10 +212,6 @@ sensors start
commander start
navigator start

if param compare WEST_EN 1
then
wind_estimator start
fi

if ! param compare MNT_MODE_IN -1
then
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3 changes: 1 addition & 2 deletions ROMFS/px4fmu_common/init.d/rc.fw_apps
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Expand Up @@ -15,9 +15,8 @@ ekf2 start
#
fw_att_control start
fw_pos_control_l1 start

airspeed_selector start
#
# Start Land Detector.
#
land_detector start fixedwing

2 changes: 1 addition & 1 deletion ROMFS/px4fmu_common/init.d/rc.vtol_apps
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Expand Up @@ -21,10 +21,10 @@ mc_att_control start
mc_pos_control start
fw_att_control start
fw_pos_control_l1 start
airspeed_selector start

#
# Start Land Detector
# Multicopter for now until we have something for VTOL
#
land_detector start vtol

8 changes: 0 additions & 8 deletions ROMFS/px4fmu_common/init.d/rcS
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Expand Up @@ -435,14 +435,6 @@ else
#
navigator start

#
# Start the standalone wind estimator.
#
if param compare WEST_EN 1
then
wind_estimator start
fi

#
# Start a thermal calibration if required.
#
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2 changes: 1 addition & 1 deletion boards/aerotenna/ocpoc/ubuntu.cmake
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Expand Up @@ -52,7 +52,7 @@ px4_add_board(
#simulator
vmount
vtol_att_control
wind_estimator
airspeed_selector

SYSTEMCMDS
esc_calib
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2 changes: 1 addition & 1 deletion boards/airmind/mindpx-v2/default.cmake
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Expand Up @@ -72,7 +72,7 @@ px4_add_board(
sih
vmount
vtol_att_control
wind_estimator
airspeed_selector

SYSTEMCMDS
bl_update
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2 changes: 1 addition & 1 deletion boards/atlflight/eagle/default.cmake
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Expand Up @@ -87,7 +87,7 @@ px4_add_board(
simulator
vmount
vtol_att_control
wind_estimator
airspeed_selector

SYSTEMCMDS
#bl_update
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2 changes: 1 addition & 1 deletion boards/atlflight/eagle/qurt-default.cmake
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Expand Up @@ -76,7 +76,7 @@ px4_add_board(
#sih
vmount
vtol_att_control
wind_estimator
airspeed_selector

SYSTEMCMDS
param
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2 changes: 1 addition & 1 deletion boards/atlflight/excelsior/default.cmake
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Expand Up @@ -87,7 +87,7 @@ px4_add_board(
simulator
vmount
vtol_att_control
wind_estimator
airspeed_selector

SYSTEMCMDS
#bl_update
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2 changes: 1 addition & 1 deletion boards/atlflight/excelsior/qurt-default.cmake
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Expand Up @@ -76,7 +76,7 @@ px4_add_board(
sih
vmount
vtol_att_control
wind_estimator
airspeed_selector

SYSTEMCMDS
param
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2 changes: 1 addition & 1 deletion boards/auav/x21/default.cmake
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Expand Up @@ -78,7 +78,7 @@ px4_add_board(
sih
vmount
vtol_att_control
wind_estimator
airspeed_selector

SYSTEMCMDS
bl_update
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2 changes: 1 addition & 1 deletion boards/av/x-v1/default.cmake
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Expand Up @@ -79,7 +79,7 @@ px4_add_board(
sih
vmount
vtol_att_control
wind_estimator
airspeed_selector

SYSTEMCMDS
#bl_update
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2 changes: 1 addition & 1 deletion boards/beaglebone/blue/cross.cmake
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Expand Up @@ -50,7 +50,7 @@ px4_add_board(
sih
vmount
vtol_att_control
wind_estimator
airspeed_selector

SYSTEMCMDS
esc_calib
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2 changes: 1 addition & 1 deletion boards/beaglebone/blue/native.cmake
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Expand Up @@ -48,7 +48,7 @@ px4_add_board(
sih
vmount
vtol_att_control
wind_estimator
airspeed_selector

SYSTEMCMDS
esc_calib
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2 changes: 1 addition & 1 deletion boards/bitcraze/crazyflie/default.cmake
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Expand Up @@ -38,7 +38,7 @@ px4_add_board(
sensors
sih
#vtol_att_control
wind_estimator
airspeed_selector

SYSTEMCMDS
bl_update
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2 changes: 1 addition & 1 deletion boards/emlid/navio2/cross.cmake
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Expand Up @@ -55,7 +55,7 @@ px4_add_board(
#simulator
vmount
vtol_att_control
wind_estimator
airspeed_selector

SYSTEMCMDS
dyn
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2 changes: 1 addition & 1 deletion boards/emlid/navio2/native.cmake
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Expand Up @@ -53,7 +53,7 @@ px4_add_board(
#simulator
vmount
vtol_att_control
wind_estimator
airspeed_selector

SYSTEMCMDS
dyn
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2 changes: 1 addition & 1 deletion boards/intel/aerofc-v1/default.cmake
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Expand Up @@ -55,7 +55,7 @@ px4_add_board(
sih
vmount
#vtol_att_control
#wind_estimator
#airspeed_selector

SYSTEMCMDS
bl_update
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2 changes: 1 addition & 1 deletion boards/intel/aerofc-v1/rtps.cmake
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Expand Up @@ -59,7 +59,7 @@ px4_add_board(
sih
vmount
#vtol_att_control
#wind_estimator
#airspeed_selector

SYSTEMCMDS
bl_update
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2 changes: 1 addition & 1 deletion boards/nxp/fmuk66-v3/default.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -74,7 +74,7 @@ px4_add_board(
sih
vmount
vtol_att_control
wind_estimator
airspeed_selector

SYSTEMCMDS
bl_update
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2 changes: 1 addition & 1 deletion boards/omnibus/f4sd/default.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -67,7 +67,7 @@ px4_add_board(
sih
#vmount
#vtol_att_control
#wind_estimator
#airspeed_selector

SYSTEMCMDS
#bl_update
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2 changes: 1 addition & 1 deletion boards/parrot/bebop/default.cmake
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Expand Up @@ -41,7 +41,7 @@ px4_add_board(
sensors
sih
#vtol_att_control
wind_estimator
airspeed_selector

SYSTEMCMDS
#config
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2 changes: 1 addition & 1 deletion boards/px4/fmu-v2/default.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -86,7 +86,7 @@ px4_add_board(
sensors
vmount
vtol_att_control
#wind_estimator
#airspeed_selector

SYSTEMCMDS
bl_update
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2 changes: 1 addition & 1 deletion boards/px4/fmu-v2/fixedwing.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -58,7 +58,7 @@ px4_add_board(
navigator
sensors
vmount
wind_estimator
airspeed_selector

SYSTEMCMDS
bl_update
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2 changes: 1 addition & 1 deletion boards/px4/fmu-v2/lpe.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -82,7 +82,7 @@ px4_add_board(
sensors
vmount
#vtol_att_control
#wind_estimator
#airspeed_selector

SYSTEMCMDS
bl_update
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2 changes: 1 addition & 1 deletion boards/px4/fmu-v2/test.cmake
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Expand Up @@ -82,7 +82,7 @@ px4_add_board(
sensors
vmount
vtol_att_control
#wind_estimator
#airspeed_selector

SYSTEMCMDS
#bl_update
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2 changes: 1 addition & 1 deletion boards/px4/fmu-v3/default.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -86,7 +86,7 @@ px4_add_board(
sih
vmount
vtol_att_control
wind_estimator
airspeed_selector

SYSTEMCMDS
bl_update
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2 changes: 1 addition & 1 deletion boards/px4/fmu-v3/rtps.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -86,7 +86,7 @@ px4_add_board(
sih
vmount
vtol_att_control
wind_estimator
airspeed_selector

SYSTEMCMDS
bl_update
Expand Down
2 changes: 1 addition & 1 deletion boards/px4/fmu-v3/stackcheck.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -85,7 +85,7 @@ px4_add_board(
sih
vmount
vtol_att_control
wind_estimator
airspeed_selector

SYSTEMCMDS
bl_update
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2 changes: 1 addition & 1 deletion boards/px4/fmu-v4/default.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -70,7 +70,7 @@ px4_add_board(
sih
vmount
vtol_att_control
wind_estimator
airspeed_selector

SYSTEMCMDS
bl_update
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2 changes: 1 addition & 1 deletion boards/px4/fmu-v4/rtps.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -73,7 +73,7 @@ px4_add_board(
sih
vmount
vtol_att_control
wind_estimator
airspeed_selector

SYSTEMCMDS
bl_update
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2 changes: 1 addition & 1 deletion boards/px4/fmu-v4/stackcheck.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -70,7 +70,7 @@ px4_add_board(
sih
vmount
vtol_att_control
wind_estimator
airspeed_selector

SYSTEMCMDS
bl_update
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2 changes: 1 addition & 1 deletion boards/px4/fmu-v4pro/default.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -84,7 +84,7 @@ px4_add_board(
sih
vmount
vtol_att_control
wind_estimator
airspeed_selector

SYSTEMCMDS
bl_update
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2 changes: 1 addition & 1 deletion boards/px4/fmu-v4pro/rtps.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -84,7 +84,7 @@ px4_add_board(
sih
vmount
vtol_att_control
wind_estimator
airspeed_selector

SYSTEMCMDS
bl_update
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2 changes: 1 addition & 1 deletion boards/px4/fmu-v5/default.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -84,7 +84,7 @@ px4_add_board(
sih
vmount
vtol_att_control
wind_estimator
airspeed_selector

SYSTEMCMDS
bl_update
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2 changes: 1 addition & 1 deletion boards/px4/fmu-v5/fixedwing.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -58,7 +58,7 @@ px4_add_board(
navigator
sensors
vmount
wind_estimator
airspeed_selector

SYSTEMCMDS
bl_update
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2 changes: 1 addition & 1 deletion boards/px4/fmu-v5/multicopter.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -67,7 +67,7 @@ px4_add_board(
sensors
sih
vmount
wind_estimator
airspeed_selector

SYSTEMCMDS
bl_update
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2 changes: 1 addition & 1 deletion boards/px4/fmu-v5/rtps.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -83,7 +83,7 @@ px4_add_board(
sih
vmount
vtol_att_control
wind_estimator
airspeed_selector

SYSTEMCMDS
bl_update
Expand Down
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