AirspeedSelector: add _CAS_scale_validated to airspeed_wind for logging

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

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_raw 		# Estimated true airspeed scale factor (not validated)
-float32 tas_scale_var 		# True airspeed scale factor variance
+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

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_raw = _wind_estimator.get_tas_scale();
-	wind_est.tas_scale_var = _wind_estimator.get_tas_scale_var();
+	wind_est.tas_scale_raw_var = _wind_estimator.get_tas_scale_var();
+	wind_est.tas_scale_validated = _CAS_scale_estimated;
 	return wind_est;
 }
 

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_raw = NAN;
-	_wind_estimate_sideslip.tas_scale_var = 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;
 }