From cad78517746bfd12df4d9ec4731646b68b455c6a Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Mon, 11 Oct 2021 16:21:07 +0200 Subject: [PATCH] AirspeedSelector: add _CAS_scale_validated to airspeed_wind for logging Signed-off-by: Silvan Fuhrer --- msg/airspeed_wind.msg | 6 ++++-- src/modules/airspeed_selector/AirspeedValidator.cpp | 5 +++-- src/modules/airspeed_selector/airspeed_selector_main.cpp | 5 +++-- 3 files changed, 10 insertions(+), 6 deletions(-) diff --git a/msg/airspeed_wind.msg b/msg/airspeed_wind.msg index a9dff0fe63..6ca513a356 100644 --- a/msg/airspeed_wind.msg +++ b/msg/airspeed_wind.msg @@ -10,8 +10,10 @@ float32 variance_east # Wind estimate error variance in east / Y direction (m/s float32 tas_innov # True airspeed innovation float32 tas_innov_var # True airspeed innovation variance -float32 tas_scale # Estimated true airspeed scale factor -float32 tas_scale_var # True airspeed scale factor variance +float32 tas_scale_raw # Estimated true airspeed scale factor (not validated) +float32 tas_scale_raw_var # True airspeed scale factor variance + +float32 tas_scale_validated # Estimated true airspeed scale factor after validation float32 beta_innov # Sideslip measurement innovation float32 beta_innov_var # Sideslip measurement innovation variance diff --git a/src/modules/airspeed_selector/AirspeedValidator.cpp b/src/modules/airspeed_selector/AirspeedValidator.cpp index 2d7c4611ef..cf3a5f07f2 100644 --- a/src/modules/airspeed_selector/AirspeedValidator.cpp +++ b/src/modules/airspeed_selector/AirspeedValidator.cpp @@ -110,8 +110,9 @@ AirspeedValidator::get_wind_estimator_states(uint64_t timestamp) wind_est.tas_innov_var = _wind_estimator.get_tas_innov_var(); wind_est.beta_innov = _wind_estimator.get_beta_innov(); wind_est.beta_innov_var = _wind_estimator.get_beta_innov_var(); - wind_est.tas_scale = _wind_estimator.get_tas_scale(); - wind_est.tas_scale_var = _wind_estimator.get_tas_scale_var(); + wind_est.tas_scale_raw = _wind_estimator.get_tas_scale(); + wind_est.tas_scale_raw_var = _wind_estimator.get_tas_scale_var(); + wind_est.tas_scale_validated = _CAS_scale_estimated; return wind_est; } diff --git a/src/modules/airspeed_selector/airspeed_selector_main.cpp b/src/modules/airspeed_selector/airspeed_selector_main.cpp index e6f0e22aec..0b3525522f 100644 --- a/src/modules/airspeed_selector/airspeed_selector_main.cpp +++ b/src/modules/airspeed_selector/airspeed_selector_main.cpp @@ -517,8 +517,9 @@ void AirspeedModule::update_wind_estimator_sideslip() _wind_estimate_sideslip.tas_innov_var = NAN; _wind_estimate_sideslip.beta_innov = _wind_estimator_sideslip.get_beta_innov(); _wind_estimate_sideslip.beta_innov_var = _wind_estimator_sideslip.get_beta_innov_var(); - _wind_estimate_sideslip.tas_scale = NAN; - _wind_estimate_sideslip.tas_scale_var = NAN; + _wind_estimate_sideslip.tas_scale_raw = NAN; + _wind_estimate_sideslip.tas_scale_raw_var = NAN; + _wind_estimate_sideslip.tas_scale_validated = NAN; _wind_estimate_sideslip.source = airspeed_wind_s::SOURCE_AS_BETA_ONLY; }