Pr move land detector mavlink to airspeed validated #13710
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This e.g. changes the way QGC displays the airspeed in case of an airspeed failure (0 instead of the last valid airspeed). It will always display the airspeed that's used currently in the control modules. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
…airspeed topic - the land detector checks further if the airspeed is NAN, in which case it sets the airspeed to 0 (min groundspeed, vz and accel checks still have to pass. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
dagar
reviewed
Dec 9, 2019
|
In another PR we should also add something to commander to require that the airspeed selector is alive and well for arming as FW or VTOL. |
|
@PX4/testflights could you give this a try the next time you fly FW or VTOL? |
|
Tested on Pixhawk 1 fixed-wing Take off: no issues log: |
…ents - replaced ternary by conditional - set airspeed to 0 if airspeed_validated stops publishing Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
|
@dagar is this now good to be merged from your side? |
dagar
approved these changes
Dec 24, 2019
dagar
deleted the
pr-move_land_detector_mavlink_to_airspeed_validated
branch
Jaeyoung-Lim
pushed a commit
that referenced
this pull request
Jan 15, 2020
* Mavlink: subscribe to airspeed_validated instead of airspeed topic This e.g. changes the way QGC displays the airspeed in case of an airspeed failure (0 instead of the last valid airspeed). It will always display the airspeed that's used currently in the control modules. * FW land detector: move to subscribe to airspeed_validated instead of airspeed topic - the land detector checks further if the airspeed is NAN, in which case it sets the airspeed to 0 (min groundspeed, vz and accel checks still have to pass. * Fixed-wing land detector use airspeed_vaidated: addressed review comments - replaced ternary by conditional - set airspeed to 0 if airspeed_validated stops publishing Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
BazookaJoe1900
pushed a commit
that referenced
this pull request
Feb 3, 2020
* Mavlink: subscribe to airspeed_validated instead of airspeed topic This e.g. changes the way QGC displays the airspeed in case of an airspeed failure (0 instead of the last valid airspeed). It will always display the airspeed that's used currently in the control modules. * FW land detector: move to subscribe to airspeed_validated instead of airspeed topic - the land detector checks further if the airspeed is NAN, in which case it sets the airspeed to 0 (min groundspeed, vz and accel checks still have to pass. * Fixed-wing land detector use airspeed_vaidated: addressed review comments - replaced ternary by conditional - set airspeed to 0 if airspeed_validated stops publishing Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Alternative to #13706, this time with moving the subscription of the FW land detector and mavlink to airspeed_validated.
SITL tested, eg FW mission where in mid-flight the ASPD_STALL is set to 100 to trigger an "airspeed invalid" declaration. The plane then keeps on flying in non-airspeed mode, and after landing the land detector correctly detects the landing. https://review.px4.io/plot_app?log=48c0f65a-35bc-4241-b3ea-5e4a0aef78db