rename parameters

src/modules/commander/Commander.cpp

@@ -4094,7 +4094,7 @@ void Commander::battery_status_check()
 
 void Commander::airspeed_use_check()
 {
-	if (_airspeed_fail_action.get() < 1 || _airspeed_fail_action.get() > 4) {
+	if (_tas_fs_action.get() < 1 || _tas_fs_action.get() > 4) {
 		// disabled
 		return;
 	}
@@ -4239,12 +4239,12 @@ void Commander::airspeed_use_check()
 		}
 	}
 
-	// Do actions based on value of COM_ASPD_FS_ACT parameter
+	// Do actions based on value of COM_TAS_FS_ACT parameter
 	status.aspd_fault_declared = false;
 	status.aspd_use_inhibit = false;
 	status.aspd_fail_rtl = false;
 
-	switch (_airspeed_fail_action.get()) {
+	switch (_tas_fs_action.get()) {
 	case 4: { // log a message, warn the user, switch to non-airspeed TECS mode, switch to Return mode if not in a pilot controlled mode.
 			if (fault_declared) {
 				status.aspd_fault_declared = true;
@@ -4260,18 +4260,18 @@ void Commander::airspeed_use_check()
 					// don't RTL if pilot is in control
 					mavlink_log_critical(&mavlink_log_pub, "ASPD DATA %s - stopping use", _airspeed_fault_type);
 
-				} else if (hrt_elapsed_time(&_time_tas_good_declared) < (_airspeed_rtl_delay.get() * 1_s)) {
+				} else if (hrt_elapsed_time(&_time_tas_good_declared) < (_tas_fs_rtl_delay.get() * 1_s)) {
 					// Wait for timeout and issue message
 					mavlink_log_critical(&mavlink_log_pub, "ASPD DATA %s - stopping use, RTL in %i sec", _airspeed_fault_type,
-							     _airspeed_rtl_delay.get());
+							     _tas_fs_rtl_delay.get());
 
 				} else if (TRANSITION_DENIED != main_state_transition(status, commander_state_s::MAIN_STATE_AUTO_RTL, status_flags,
 						&internal_state)) {
 
 					// Issue critical message even if already in RTL
 					status.aspd_fail_rtl = true;
 
-					if (_airspeed_rtl_delay.get() == 0) {
+					if (_tas_fs_rtl_delay.get() == 0) {
 						mavlink_log_critical(&mavlink_log_pub, "ASPD DATA %s - stopping use and returning", _airspeed_fault_type);
 
 					} else {
@@ -4281,7 +4281,7 @@ void Commander::airspeed_use_check()
 				} else {
 					status.aspd_fail_rtl = true;
 
-					if (_airspeed_rtl_delay.get() == 0) {
+					if (_tas_fs_rtl_delay.get() == 0) {
 						mavlink_log_critical(&mavlink_log_pub, "ASPD DATA %s - stopping use, return failed", _airspeed_fault_type);
 
 					} else {

src/modules/commander/Commander.hpp

@@ -125,11 +125,11 @@ class Commander : public ModuleBase<Commander>, public ModuleParams
 
 		(ParamFloat<px4::params::COM_TAS_FS_INNOV>) _tas_innov_threshold,
 		(ParamFloat<px4::params::COM_TAS_FS_INTEG>) _tas_innov_integ_threshold,
-		(ParamInt<px4::params::COM_TAS_FS_T1>) _tas_use_stop_delay,
-		(ParamInt<px4::params::COM_TAS_FS_T2>) _tas_use_start_delay,
-		(ParamInt<px4::params::COM_ASPD_FS_ACT>) _airspeed_fail_action,
+		(ParamInt<px4::params::COM_TAS_FS_DLY>) _tas_use_stop_delay,
+		(ParamInt<px4::params::COM_TAS_FS_END>) _tas_use_start_delay,
+		(ParamInt<px4::params::COM_TAS_FS_ACT>) _tas_fs_action,
 		(ParamFloat<px4::params::COM_ASPD_STALL>) _airspeed_stall,
-		(ParamInt<px4::params::COM_ASPD_FS_DLY>) _airspeed_rtl_delay
+		(ParamInt<px4::params::COM_TAS_FS_D_RTL>) _tas_fs_rtl_delay
 
 	)
 

src/modules/commander/commander_params.c

@@ -821,7 +821,7 @@ PARAM_DEFINE_INT32(COM_OA_BOOT_T, 100);
 /**
  * Airspeed failsafe consistency threshold (Experimental)
  *
- * This specifies the minimum airspeed test ratio as logged in estimator_status.tas_test_ratio required to trigger a failsafe. Larger values make the check less sensitive, smaller values make it more sensitive. Start with a value of 1.0 when tuning. When estimator_status.tas_test_ratio is > 1.0 it indicates the inconsistency between predicted and measured airspeed is large enough to cause the navigation EKF to reject airspeed measurements. The time required to detect a fault when the threshold is exceeded depends on the size of the exceedance and is controlled by the COM_TAS_FS_INTEG parameter. The subsequent failsafe response is controlled by the COM_ASPD_FS_ACT parameter.
+ * This specifies the minimum airspeed test ratio as logged in estimator_status.tas_test_ratio required to trigger a failsafe. Larger values make the check less sensitive, smaller values make it more sensitive. Start with a value of 1.0 when tuning. When estimator_status.tas_test_ratio is > 1.0 it indicates the inconsistency between predicted and measured airspeed is large enough to cause the navigation EKF to reject airspeed measurements. The time required to detect a fault when the threshold is exceeded depends on the size of the exceedance and is controlled by the COM_TAS_FS_INTEG parameter. The subsequent failsafe response is controlled by the COM_TAS_FS_ACT parameter.
 *
  * @min 0.5
  * @max 3.0
@@ -833,7 +833,7 @@ PARAM_DEFINE_FLOAT(COM_TAS_FS_INNOV, 1.0f);
 /**
  * Airspeed failsafe consistency delay (Experimental)
  *
- * This sets the time integral of airspeed test ratio exceedance above COM_TAS_FS_INNOV required to trigger a failsafe. For example if COM_TAS_FS_INNOV is 100 and estimator_status.tas_test_ratio is 2.0, then the exceedance is 1.0 and the integral will rise at a rate of 1.0/second. A negative value disables the check. Larger positive values make the check less sensitive, smaller positive values make it more sensitive. The failsafe response is controlled by the COM_ASPD_FS_ACT parameter.
+ * This sets the time integral of airspeed test ratio exceedance above COM_TAS_FS_INNOV required to trigger a failsafe. For example if COM_TAS_FS_INNOV is 100 and estimator_status.tas_test_ratio is 2.0, then the exceedance is 1.0 and the integral will rise at a rate of 1.0/second. A negative value disables the check. Larger positive values make the check less sensitive, smaller positive values make it more sensitive. The failsafe response is controlled by the COM_TAS_FS_ACT parameter.
  *
  * @unit s
  * @max 30.0
@@ -845,33 +845,33 @@ PARAM_DEFINE_FLOAT(COM_TAS_FS_INTEG, -1.0f);
 /**
  * Airspeed failsafe stop delay (Experimental)
  *
- * Delay before stopping use of airspeed sensor if checks indicate sensor is bad. The failsafe response is controlled by the COM_ASPD_FS_ACT parameter.
+ * Delay before stopping use of airspeed sensor if checks indicate sensor is bad. The failsafe response is controlled by the COM_TAS_FS_ACT parameter.
  *
  * @unit s
  * @group Commander
  * @category Developer
  * @min 1
  * @max 10
  */
-PARAM_DEFINE_INT32(COM_TAS_FS_T1, 3);
+PARAM_DEFINE_INT32(COM_TAS_FS_DLY, 3);
 
 /**
  * Airspeed failsafe start delay (Experimental)
  *
- * Delay before switching back to using airspeed sensor if checks indicate sensor is good. The failsafe response is controlled by the COM_ASPD_FS_ACT parameter.
+ * Delay before switching back to using airspeed sensor if checks indicate sensor is good. The failsafe response is controlled by the COM_TAS_FS_ACT parameter.
  *
  * @unit s
  * @group Commander
  * @category Developer
  * @min 10
  * @max 1000
  */
-PARAM_DEFINE_INT32(COM_TAS_FS_T2, 100);
+PARAM_DEFINE_INT32(COM_TAS_FS_END, 100);
 
 /**
  * Airspeed fault detection stall airspeed. (Experimental)
  *
- * This is the minimum indicated airspeed at which the wing can produce 1g of lift. It is used by the airspeed sensor fault detection and failsafe calculation to detect a significant airspeed low measurement error condition and should be set based on flight test for reliable operation. The failsafe response is controlled by the COM_ASPD_FS_ACT parameter.
+ * This is the minimum indicated airspeed at which the wing can produce 1g of lift. It is used by the airspeed sensor fault detection and failsafe calculation to detect a significant airspeed low measurement error condition and should be set based on flight test for reliable operation. The failsafe response is controlled by the COM_TAS_FS_ACT parameter.
  *
  * @group Commander
  * @category Developer
@@ -888,22 +888,22 @@ PARAM_DEFINE_FLOAT(COM_ASPD_STALL, 10.0f);
  * @value 1 log a message
  * @value 2 log a message, warn the user
  * @value 3 log a message, warn the user, switch to non-airspeed TECS mode
- * @value 4 log a message, warn the user, switch to non-airspeed TECS mode, switch to Return mode after COM_ASPD_FS_DLY seconds
+ * @value 4 log a message, warn the user, switch to non-airspeed TECS mode, switch to Return mode after COM_TAS_FS_D_RTL seconds
  * @group Commander
  * @category Developer
  */
-PARAM_DEFINE_INT32(COM_ASPD_FS_ACT, 0);
+PARAM_DEFINE_INT32(COM_TAS_FS_ACT, 0);
 
 /**
- * Airspeed fault detection RTL delay (Experimental)
+ * Airspeed fault detection delay before RTL (Experimental)
  *
- * RTL delay after bad airspeed measurements are detected if COM_ASPD_FS_ACT is set to 4. Ensure the COM_ASPD_STALL parameter is set correctly before use. The failsafe start and stop delays are controlled by the COM_TAS_FS_T1 and COM_TAS_FS_T2 parameters. Additional protection against persistent airspeed sensor errors can be enabled using the COM_TAS_FS_INNOV parameter, but these addtional checks are more prone to false positives in windy conditions.
+ * RTL delay after bad airspeed measurements are detected if COM_TAS_FS_ACT is set to 4. Ensure the COM_ASPD_STALL parameter is set correctly before use. The failsafe start and stop delays are controlled by the COM_TAS_FS_DLY and COM_TAS_FS_END parameters. Additional protection against persistent airspeed sensor errors can be enabled using the COM_TAS_FS_INNOV parameter, but these addtional checks are more prone to false positives in windy conditions.
  *
  * @min 0
  * @max 300
  * @unit s
  * @group Commander
  * @category Developer
  */
-PARAM_DEFINE_INT32(COM_ASPD_FS_DLY, 0);
+PARAM_DEFINE_INT32(COM_TAS_FS_D_RTL, 0);