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AirspeedValidator: Remove extra delay from airspeed innovation check #23244

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merged 4 commits into from
Jun 11, 2024
Merged

AirspeedValidator: Remove extra delay from airspeed innovation check #23244

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5d186ee
AirspeedValidator: remove additional one second of hysteresis for tri…
RomanBapst Jun 10, 2024
a886ee9
removed unnecessary conditions
RomanBapst Jun 10, 2024
b6aa0b1
AirspeedValidator: only disable innov checks if ASPD_FS_INTEG is nega…
sfuhrer Jun 11, 2024
c399e01
get rid of unnecessary check on innovation threshold parameter
RomanBapst Jun 11, 2024
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8 changes: 1 addition & 7 deletions src/modules/airspeed_selector/AirspeedValidator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -225,13 +225,11 @@ AirspeedValidator::check_airspeed_innovation(uint64_t time_now, float estimator_
if (!_innovation_check_enabled || !_in_fixed_wing_flight || (time_now - _time_wind_estimator_initialized) < 5_s
|| _tas_innov_integ_threshold <= 0.f) {
_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 {
Expand All @@ -249,11 +247,7 @@ 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 = _tas_innov_integ_threshold > 0.0f && _aspd_innov_integ_state > _tas_innov_integ_threshold;
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}

_time_last_aspd_innov_check = time_now;
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2 changes: 0 additions & 2 deletions src/modules/airspeed_selector/AirspeedValidator.hpp
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Expand Up @@ -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
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