AirspeedValidator: Remove extra delay from airspeed innovation check (#…

…23244) * AirspeedValidator: remove additional one second of hysteresis for triggering innovation checks - this check already uses an integrator and so adding more delay just makes log analysis more difficult and does not really add any value Signed-off-by: RomanBapst <[email protected]> * removed unnecessary conditions Signed-off-by: RomanBapst <[email protected]> * AirspeedValidator: only disable innov checks if ASPD_FS_INTEG is negative Signed-off-by: Silvan Fuhrer <[email protected]> * get rid of unnecessary check on innovation threshold parameter Signed-off-by: RomanBapst <[email protected]> --------- Signed-off-by: RomanBapst <[email protected]> Signed-off-by: Silvan Fuhrer <[email protected]> Co-authored-by: Silvan Fuhrer <[email protected]>
PX4 · Jun 11, 2024 · 8ad9346 · 8ad9346
1 parent 9ececfd
commit 8ad9346
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Showing 2 changed files with 2 additions and 11 deletions.
diff --git a/src/modules/airspeed_selector/AirspeedValidator.cpp b/src/modules/airspeed_selector/AirspeedValidator.cpp
@@ -222,16 +222,13 @@ AirspeedValidator::check_airspeed_innovation(uint64_t time_now, float estimator_
 	}
 
 	// reset states if check is disabled, we are not flying or wind estimator was just initialized/reset
-	if (!_innovation_check_enabled || !_in_fixed_wing_flight || (time_now - _time_wind_estimator_initialized) < 5_s
-	    || _tas_innov_integ_threshold <= 0.f) {
+	if (!_innovation_check_enabled || !_in_fixed_wing_flight || (time_now - _time_wind_estimator_initialized) < 5_s) {
 		_innovations_check_failed = false;
-		_time_last_tas_pass = time_now;
 		_aspd_innov_integ_state = 0.f;
 
 	} else if (!lpos_valid || estimator_status_vel_test_ratio > 1.f || estimator_status_mag_test_ratio > 1.f) {
 		//nav velocity data is likely not good
 		//don't run the test but don't reset the check if it had previously failed when nav velocity data was still likely good
-		_time_last_tas_pass = time_now;
 		_aspd_innov_integ_state = 0.f;
 
 	} else {
@@ -249,11 +246,7 @@ AirspeedValidator::check_airspeed_innovation(uint64_t time_now, float estimator_
 			_aspd_innov_integ_state = 0.f;
 		}
 
-		if (_tas_innov_integ_threshold > 0.f && _aspd_innov_integ_state < _tas_innov_integ_threshold) {
-			_time_last_tas_pass = time_now;
-		}
-
-		_innovations_check_failed = (time_now - _time_last_tas_pass) > TAS_INNOV_FAIL_DELAY;
+		_innovations_check_failed = _aspd_innov_integ_state > _tas_innov_integ_threshold;
 	}
 
 	_time_last_aspd_innov_check = time_now;

diff --git a/src/modules/airspeed_selector/AirspeedValidator.hpp b/src/modules/airspeed_selector/AirspeedValidator.hpp
@@ -150,9 +150,7 @@ class AirspeedValidator
 	float _tas_innov_threshold{1.0}; ///< innovation error threshold for triggering innovation check failure
 	float _tas_innov_integ_threshold{-1.0}; ///< integrator innovation error threshold for triggering innovation check failure
 	uint64_t	_time_last_aspd_innov_check{0};	///< time airspeed innovation was last checked (uSec)
-	uint64_t	_time_last_tas_pass{0};		///< last time innovation checks passed
 	float		_aspd_innov_integ_state{0.0f};	///< integral of excess normalised airspeed innovation (sec)
-	static constexpr uint64_t TAS_INNOV_FAIL_DELAY{1_s};	///< time required for innovation levels to pass or fail (usec)
 	uint64_t	_time_wind_estimator_initialized{0};		///< time last time wind estimator was initialized (uSec)
 
 	// states of load factor check