repurpose wind estimator module into airspeed module and add airspeed…

…_validated topic Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
PX4 · Jul 1, 2019 · 745254c · 745254c
1 parent 3f72b72
commit 745254c
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Showing 6 changed files with 392 additions and 115 deletions.
diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
@@ -38,6 +38,7 @@ set(msg_files
 	actuator_outputs.msg
 	adc_report.msg
 	airspeed.msg
+	airspeed_validated.msg
 	battery_status.msg
 	camera_capture.msg
 	camera_trigger.msg

diff --git a/msg/airspeed_validated.msg b/msg/airspeed_validated.msg
@@ -0,0 +1,15 @@
+uint64 timestamp			# time since system start (microseconds)
+
+float32 indicated_airspeed_m_s		# indicated airspeed in m/s (IAS)
+
+float32 equivalent_airspeed_m_s     # equivalent airspeed in m/s (accounts for instrumentation errors) (EAS)
+
+float32 true_airspeed_m_s		# true filtered airspeed in m/s (TAS)
+
+float32 ground_minus_wind # TAS calculated from groundspeed - windspeed
+
+bool airspeed_sensor_measurement_valid # true if airspeed measurement from (one or multiple) pitot is valid
+
+bool airspeed_valid # true if airspeed_sensor_measurement_valid or groundspeed-windspeed is valid
+
+int64 selected_airspeed_index # 0-2: airspeed sensor index, -1: groundspeed-windspeed, -2: airspeed invalid
diff --git a/src/modules/logger/logger.cpp b/src/modules/logger/logger.cpp
@@ -592,6 +592,7 @@ void Logger::add_default_topics()
 	add_topic("actuator_controls_1", 100);
 	add_topic("actuator_outputs", 100);
 	add_topic("airspeed", 200);
+	add_topic("airspeed_validated", 200);
 	add_topic("battery_status", 500);
 	add_topic("camera_capture");
 	add_topic("camera_trigger");

diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
@@ -330,14 +330,14 @@ 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;
 

diff --git a/src/modules/wind_estimator/CMakeLists.txt b/src/modules/wind_estimator/CMakeLists.txt
@@ -33,11 +33,10 @@
 px4_add_module(
 	MODULE modules__wind_estimator
 	MAIN wind_estimator
-	INCLUDES
-		${PX4_SOURCE_DIR}/src/lib/ecl
 	SRCS
 		wind_estimator_main.cpp
 	DEPENDS
 		git_ecl
 		ecl_airdata
+		AirspeedValidator
 )