PX4 Firmware
PX4 Autopilot Software http://px4.io
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AirspeedModule Class Reference
Inheritance diagram for AirspeedModule:
Collaboration diagram for AirspeedModule:

Public Member Functions

 AirspeedModule ()
 
 ~AirspeedModule () override
 
void Run () override
 
int print_status () override
 

Static Public Member Functions

static int task_spawn (int argc, char *argv[])
 
static int custom_command (int argc, char *argv[])
 
static int print_usage (const char *reason=nullptr)
 

Private Types

enum  airspeed_index {
  DISABLED_INDEX = -1, GROUND_MINUS_WIND_INDEX, FIRST_SENSOR_INDEX, SECOND_SENSOR_INDEX,
  THIRD_SENSOR_INDEX
}
 

Private Member Functions

 DEFINE_PARAMETERS ((ParamFloat< px4::params::ASPD_W_P_NOISE >) _param_west_w_p_noise,(ParamFloat< px4::params::ASPD_SC_P_NOISE >) _param_west_sc_p_noise,(ParamFloat< px4::params::ASPD_TAS_NOISE >) _param_west_tas_noise,(ParamFloat< px4::params::ASPD_BETA_NOISE >) _param_west_beta_noise,(ParamInt< px4::params::ASPD_TAS_GATE >) _param_west_tas_gate,(ParamInt< px4::params::ASPD_BETA_GATE >) _param_west_beta_gate,(ParamInt< px4::params::ASPD_SCALE_EST >) _param_west_scale_estimation_on,(ParamFloat< px4::params::ASPD_SCALE >) _param_west_airspeed_scale,(ParamInt< px4::params::ASPD_PRIMARY >) _param_airspeed_primary_index,(ParamInt< px4::params::ASPD_DO_CHECKS >) _param_airspeed_checks_on,(ParamInt< px4::params::ASPD_FALLBACK >) _param_airspeed_fallback,(ParamFloat< px4::params::ASPD_FS_INNOV >) _tas_innov_threshold,(ParamFloat< px4::params::ASPD_FS_INTEG >) _tas_innov_integ_threshold,(ParamInt< px4::params::ASPD_FS_T1 >) _checks_fail_delay,(ParamInt< px4::params::ASPD_FS_T2 >) _checks_clear_delay,(ParamFloat< px4::params::ASPD_STALL >) _airspeed_stall) void init()
 initialization of the airspeed validator instances More...
 
void check_for_connected_airspeed_sensors ()
 check for airspeed sensors (airspeed topics) and get _number_of_airspeed_sensors More...
 
void update_params ()
 update parameters More...
 
void poll_topics ()
 poll all topics required beside airspeed (e.g. More...
 
void update_wind_estimator_sideslip ()
 update the wind estimator instance only fusing sideslip More...
 
void update_ground_minus_wind_airspeed ()
 update airspeed estimate based on groundspeed minus windspeed More...
 
void select_airspeed_and_publish ()
 select airspeed sensor (or groundspeed-windspeed) More...
 

Private Attributes

uORB::Publication< airspeed_validated_s > _airspeed_validated_pub {ORB_ID(airspeed_validated)}
 airspeed validated topic More...
 
uORB::PublicationMulti< wind_estimate_s > _wind_est_pub [MAX_NUM_AIRSPEED_SENSORS+1] {{ORB_ID(wind_estimate)}, {ORB_ID(wind_estimate)}, {ORB_ID(wind_estimate)}, {ORB_ID(wind_estimate)}}
 wind estimate topic (for each airspeed validator + purely sideslip fusion) More...
 
orb_advert_t _mavlink_log_pub {nullptr}
 mavlink log topic More...
 
uORB::Subscription _estimator_status_sub {ORB_ID(estimator_status)}
 
uORB::Subscription _param_sub {ORB_ID(parameter_update)}
 
uORB::Subscription _vehicle_acceleration_sub {ORB_ID(vehicle_acceleration)}
 
uORB::Subscription _vehicle_air_data_sub {ORB_ID(vehicle_air_data)}
 
uORB::Subscription _vehicle_attitude_sub {ORB_ID(vehicle_attitude)}
 
uORB::Subscription _vehicle_land_detected_sub {ORB_ID(vehicle_land_detected)}
 
uORB::Subscription _vehicle_local_position_sub {ORB_ID(vehicle_local_position)}
 
uORB::Subscription _vehicle_status_sub {ORB_ID(vehicle_status)}
 
uORB::Subscription _vtol_vehicle_status_sub {ORB_ID(vtol_vehicle_status)}
 
uORB::Subscription _airspeed_sub [MAX_NUM_AIRSPEED_SENSORS] {{ORB_ID(airspeed), 0}, {ORB_ID(airspeed), 1}, {ORB_ID(airspeed), 2}}
 raw airspeed topics subscriptions. More...
 
estimator_status_s _estimator_status {}
 
vehicle_acceleration_s _accel {}
 
vehicle_air_data_s _vehicle_air_data {}
 
vehicle_attitude_s _vehicle_attitude {}
 
vehicle_land_detected_s _vehicle_land_detected {}
 
vehicle_local_position_s _vehicle_local_position {}
 
vehicle_status_s _vehicle_status {}
 
vtol_vehicle_status_s _vtol_vehicle_status {}
 
WindEstimator _wind_estimator_sideslip
 wind estimator instance only fusing sideslip More...
 
wind_estimate_s _wind_estimate_sideslip {}
 wind estimate message for wind estimator instance only fusing sideslip More...
 
int32_t _number_of_airspeed_sensors {0}
 number of airspeed sensors in use (detected during initialization) More...
 
int32_t _prev_number_of_airspeed_sensors {0}
 number of airspeed sensors in previous loop (to detect a new added sensor) More...
 
AirspeedValidator _airspeed_validator [MAX_NUM_AIRSPEED_SENSORS] {}
 airspeedValidator instances (one for each sensor) More...
 
hrt_abstime _time_now_usec {0}
 
int _valid_airspeed_index {-2}
 index of currently chosen (valid) airspeed sensor More...
 
int _prev_airspeed_index {-2}
 previously chosen airspeed sensor index More...
 
bool _initialized {false}
 module initialized More...
 
bool _vehicle_local_position_valid {false}
 local position (from GPS) valid More...
 
bool _in_takeoff_situation {true}
 in takeoff situation (defined as not yet stall speed reached) More...
 
float _ground_minus_wind_TAS {0.0f}
 true airspeed from groundspeed minus windspeed More...
 
float _ground_minus_wind_EAS {0.0f}
 equivalent airspeed from groundspeed minus windspeed More...
 
bool _scale_estimation_previously_on {false}
 scale_estimation was on in the last cycle More...
 
perf_counter_t _perf_elapsed {}
 

Static Private Attributes

static constexpr int MAX_NUM_AIRSPEED_SENSORS = 3
 Support max 3 airspeed sensors. More...
 

Detailed Description

Definition at line 72 of file airspeed_selector_main.cpp.

Member Enumeration Documentation

◆ airspeed_index

enum AirspeedModule::airspeed_index
private
Enumerator
DISABLED_INDEX 
GROUND_MINUS_WIND_INDEX 
FIRST_SENSOR_INDEX 
SECOND_SENSOR_INDEX 
THIRD_SENSOR_INDEX 

Definition at line 97 of file airspeed_selector_main.cpp.

Constructor & Destructor Documentation

◆ AirspeedModule()

AirspeedModule::AirspeedModule ( )

Definition at line 179 of file airspeed_selector_main.cpp.

References _perf_elapsed, PC_ELAPSED, perf_alloc_once(), and update_params().

Referenced by task_spawn().

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◆ ~AirspeedModule()

AirspeedModule::~AirspeedModule ( )
override

Definition at line 189 of file airspeed_selector_main.cpp.

References _perf_elapsed, and perf_free().

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Member Function Documentation

◆ check_for_connected_airspeed_sensors()

void AirspeedModule::check_for_connected_airspeed_sensors ( )
private

check for airspeed sensors (airspeed topics) and get _number_of_airspeed_sensors

Definition at line 243 of file airspeed_selector_main.cpp.

References _airspeed_sub, _number_of_airspeed_sensors, and MAX_NUM_AIRSPEED_SENSORS.

Referenced by Run(), and task_spawn().

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◆ custom_command()

int AirspeedModule::custom_command ( int  argc,
char *  argv[] 
)
static
See also
ModuleBase

Definition at line 580 of file airspeed_selector_main.cpp.

References is_running(), print_usage(), and task_spawn().

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◆ DEFINE_PARAMETERS()

AirspeedModule::DEFINE_PARAMETERS ( (ParamFloat< px4::params::ASPD_W_P_NOISE >)  _param_west_w_p_noise,
(ParamFloat< px4::params::ASPD_SC_P_NOISE >)  _param_west_sc_p_noise,
(ParamFloat< px4::params::ASPD_TAS_NOISE >)  _param_west_tas_noise,
(ParamFloat< px4::params::ASPD_BETA_NOISE >)  _param_west_beta_noise,
(ParamInt< px4::params::ASPD_TAS_GATE >)  _param_west_tas_gate,
(ParamInt< px4::params::ASPD_BETA_GATE >)  _param_west_beta_gate,
(ParamInt< px4::params::ASPD_SCALE_EST >)  _param_west_scale_estimation_on,
(ParamFloat< px4::params::ASPD_SCALE >)  _param_west_airspeed_scale,
(ParamInt< px4::params::ASPD_PRIMARY >)  _param_airspeed_primary_index,
(ParamInt< px4::params::ASPD_DO_CHECKS >)  _param_airspeed_checks_on,
(ParamInt< px4::params::ASPD_FALLBACK >)  _param_airspeed_fallback,
(ParamFloat< px4::params::ASPD_FS_INNOV >)  _tas_innov_threshold,
(ParamFloat< px4::params::ASPD_FS_INTEG >)  _tas_innov_integ_threshold,
(ParamInt< px4::params::ASPD_FS_T1 >)  _checks_fail_delay,
(ParamInt< px4::params::ASPD_FS_T2 >)  _checks_clear_delay,
(ParamFloat< px4::params::ASPD_STALL >)  _airspeed_stall 
)
private

initialization of the airspeed validator instances

Parameters
_tas_innov_thresholdinnovation check threshold
_tas_innov_integ_thresholdinnovation check integrator threshold
_checks_fail_delaydelay to declare airspeed invalid
_checks_clear_delaydelay to declare airspeed valid again
_airspeed_stallstall speed

◆ poll_topics()

void AirspeedModule::poll_topics ( )
private

poll all topics required beside airspeed (e.g.

current temperature)

Definition at line 423 of file airspeed_selector_main.cpp.

References _accel, _estimator_status, _estimator_status_sub, _time_now_usec, _vehicle_acceleration_sub, _vehicle_air_data, _vehicle_air_data_sub, _vehicle_attitude, _vehicle_attitude_sub, _vehicle_land_detected, _vehicle_land_detected_sub, _vehicle_local_position, _vehicle_local_position_sub, _vehicle_local_position_valid, _vehicle_status, _vehicle_status_sub, _vtol_vehicle_status, _vtol_vehicle_status_sub, vehicle_local_position_s::timestamp, uORB::Subscription::update(), and vehicle_local_position_s::v_xy_valid.

Referenced by Run().

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◆ print_status()

int AirspeedModule::print_status ( )
override

Definition at line 593 of file airspeed_selector_main.cpp.

References _number_of_airspeed_sensors, _perf_elapsed, ll40ls::instance, ORB_ID, and perf_print_counter().

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◆ print_usage()

int AirspeedModule::print_usage ( const char *  reason = nullptr)
static
See also
ModuleBase

Definition at line 606 of file airspeed_selector_main.cpp.

Referenced by custom_command().

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◆ Run()

void AirspeedModule::Run ( )
override

Definition at line 267 of file airspeed_selector_main.cpp.

References _accel, _airspeed_sub, _airspeed_validator, _estimator_status, _ground_minus_wind_EAS, _in_takeoff_situation, _initialized, _number_of_airspeed_sensors, _param_sub, _perf_elapsed, _time_now_usec, _vehicle_air_data, _vehicle_attitude, _vehicle_land_detected, _vehicle_local_position, _vehicle_local_position_valid, _vehicle_status, _vtol_vehicle_status, airspeed_validator_update_data::accel_z, airspeed_validator_update_data::air_pressure_pa, airspeed_s::air_temperature_celsius, airspeed_validator_update_data::air_temperature_celsius, airspeed_validator_update_data::airspeed_indicated_raw, airspeed_validator_update_data::airspeed_timestamp, airspeed_validator_update_data::airspeed_true_raw, armed, vehicle_status_s::arming_state, airspeed_validator_update_data::att_q, vehicle_air_data_s::baro_pressure_pa, check_for_connected_airspeed_sensors(), uORB::Subscription::copy(), vehicle_local_position_s::evh, vehicle_local_position_s::evv, hrt_absolute_time(), airspeed_validator_update_data::in_fixed_wing_flight, airspeed_s::indicated_airspeed_m_s, ToneAlarmInterface::init(), vehicle_land_detected_s::landed, airspeed_validator_update_data::lpos_evh, airspeed_validator_update_data::lpos_evv, airspeed_validator_update_data::lpos_valid, airspeed_validator_update_data::lpos_vx, airspeed_validator_update_data::lpos_vy, airspeed_validator_update_data::lpos_vz, airspeed_validator_update_data::mag_test_ratio, estimator_status_s::mag_test_ratio, perf_begin(), perf_end(), poll_topics(), vehicle_attitude_s::q, select_airspeed_and_publish(), airspeed_s::timestamp, airspeed_validator_update_data::timestamp, airspeed_s::true_airspeed_m_s, uORB::Subscription::update(), AirspeedValidator::update_airspeed_validator(), update_ground_minus_wind_airspeed(), update_params(), update_wind_estimator_sideslip(), airspeed_validator_update_data::vel_test_ratio, estimator_status_s::vel_test_ratio, vtol_vehicle_status_s::vtol_in_rw_mode, vehicle_local_position_s::vx, vehicle_local_position_s::vy, vehicle_local_position_s::vz, and vehicle_acceleration_s::xyz.

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◆ select_airspeed_and_publish()

void AirspeedModule::select_airspeed_and_publish ( )
private

select airspeed sensor (or groundspeed-windspeed)

Definition at line 482 of file airspeed_selector_main.cpp.

References _airspeed_validated_pub, _airspeed_validator, _ground_minus_wind_EAS, _ground_minus_wind_TAS, _mavlink_log_pub, _number_of_airspeed_sensors, _prev_airspeed_index, _prev_number_of_airspeed_sensors, _time_now_usec, _valid_airspeed_index, _vehicle_land_detected, _vehicle_local_position_valid, _wind_est_pub, _wind_estimate_sideslip, airspeed_validated_s::airspeed_sensor_measurement_valid, airspeed_validated_s::equivalent_airspeed_m_s, airspeed_validated_s::equivalent_ground_minus_wind_m_s, AirspeedValidator::get_airspeed_valid(), AirspeedValidator::get_EAS(), AirspeedValidator::get_IAS(), AirspeedValidator::get_TAS(), AirspeedValidator::get_wind_estimator_states(), airspeed_validated_s::indicated_airspeed_m_s, vehicle_land_detected_s::landed, mavlink_log_critical, uORB::Publication< T >::publish(), uORB::PublicationMulti< T >::publish(), airspeed_validated_s::selected_airspeed_index, airspeed_validated_s::timestamp, airspeed_validated_s::true_airspeed_m_s, and airspeed_validated_s::true_ground_minus_wind_m_s.

Referenced by Run().

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◆ task_spawn()

int AirspeedModule::task_spawn ( int  argc,
char *  argv[] 
)
static
See also
ModuleBase

Definition at line 198 of file airspeed_selector_main.cpp.

References _mavlink_log_pub, _number_of_airspeed_sensors, _prev_airspeed_index, _valid_airspeed_index, AirspeedModule(), check_for_connected_airspeed_sensors(), ToneAlarmInterface::init(), mavlink_and_console_log_info, math::min(), and SCHEDULE_INTERVAL.

Referenced by custom_command().

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◆ update_ground_minus_wind_airspeed()

void AirspeedModule::update_ground_minus_wind_airspeed ( )
private

update airspeed estimate based on groundspeed minus windspeed

Definition at line 470 of file airspeed_selector_main.cpp.

References _ground_minus_wind_EAS, _ground_minus_wind_TAS, _vehicle_air_data, _vehicle_local_position, _wind_estimate_sideslip, vehicle_air_data_s::baro_pressure_pa, vehicle_air_data_s::baro_temp_celcius, calc_EAS_from_TAS(), vehicle_local_position_s::vx, vehicle_local_position_s::vy, vehicle_local_position_s::vz, wind_estimate_s::windspeed_east, and wind_estimate_s::windspeed_north.

Referenced by Run().

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◆ update_params()

void AirspeedModule::update_params ( )
private

update parameters

Definition at line 357 of file airspeed_selector_main.cpp.

References _airspeed_validator, _mavlink_log_pub, _number_of_airspeed_sensors, _scale_estimation_previously_on, _valid_airspeed_index, _wind_estimator_sideslip, f(), mavlink_and_console_log_info, AirspeedValidator::set_airspeed_scale_manual(), AirspeedValidator::set_airspeed_stall(), WindEstimator::set_beta_gate(), WindEstimator::set_beta_noise(), AirspeedValidator::set_checks_clear_delay(), AirspeedValidator::set_checks_fail_delay(), WindEstimator::set_tas_gate(), AirspeedValidator::set_tas_innov_integ_threshold(), AirspeedValidator::set_tas_innov_threshold(), WindEstimator::set_tas_noise(), WindEstimator::set_tas_scale_p_noise(), AirspeedValidator::set_wind_estimator_beta_gate(), AirspeedValidator::set_wind_estimator_beta_noise(), AirspeedValidator::set_wind_estimator_scale_estimation_on(), AirspeedValidator::set_wind_estimator_tas_gate(), AirspeedValidator::set_wind_estimator_tas_noise(), AirspeedValidator::set_wind_estimator_tas_scale_p_noise(), AirspeedValidator::set_wind_estimator_wind_p_noise(), and WindEstimator::set_wind_p_noise().

Referenced by AirspeedModule(), and Run().

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◆ update_wind_estimator_sideslip()

void AirspeedModule::update_wind_estimator_sideslip ( )
private

update the wind estimator instance only fusing sideslip

Definition at line 438 of file airspeed_selector_main.cpp.

References _time_now_usec, _vehicle_attitude, _vehicle_local_position, _vehicle_local_position_valid, _wind_estimate_sideslip, _wind_estimator_sideslip, wind_estimate_s::beta_innov, wind_estimate_s::beta_innov_var, WindEstimator::fuse_beta(), WindEstimator::get_beta_innov(), WindEstimator::get_beta_innov_var(), WindEstimator::get_tas_innov(), WindEstimator::get_tas_innov_var(), WindEstimator::get_tas_scale(), WindEstimator::get_wind(), WindEstimator::get_wind_var(), vehicle_attitude_s::q, wind_estimate_s::tas_innov, wind_estimate_s::tas_innov_var, wind_estimate_s::tas_scale, wind_estimate_s::timestamp, WindEstimator::update(), wind_estimate_s::variance_east, wind_estimate_s::variance_north, vehicle_local_position_s::vx, vehicle_local_position_s::vy, vehicle_local_position_s::vz, wind_estimate_s::windspeed_east, and wind_estimate_s::windspeed_north.

Referenced by Run().

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Member Data Documentation

◆ _accel

vehicle_acceleration_s AirspeedModule::_accel {}
private

Definition at line 121 of file airspeed_selector_main.cpp.

Referenced by poll_topics(), and Run().

◆ _airspeed_sub

uORB::Subscription AirspeedModule::_airspeed_sub[MAX_NUM_AIRSPEED_SENSORS] {{ORB_ID(airspeed), 0}, {ORB_ID(airspeed), 1}, {ORB_ID(airspeed), 2}}
private

raw airspeed topics subscriptions.

Definition at line 118 of file airspeed_selector_main.cpp.

Referenced by check_for_connected_airspeed_sensors(), and Run().

◆ _airspeed_validated_pub

uORB::Publication<airspeed_validated_s> AirspeedModule::_airspeed_validated_pub {ORB_ID(airspeed_validated)}
private

airspeed validated topic

Definition at line 105 of file airspeed_selector_main.cpp.

Referenced by select_airspeed_and_publish().

◆ _airspeed_validator

AirspeedValidator AirspeedModule::_airspeed_validator[MAX_NUM_AIRSPEED_SENSORS] {}
private

airspeedValidator instances (one for each sensor)

Definition at line 134 of file airspeed_selector_main.cpp.

Referenced by Run(), select_airspeed_and_publish(), and update_params().

◆ _estimator_status

estimator_status_s AirspeedModule::_estimator_status {}
private

Definition at line 120 of file airspeed_selector_main.cpp.

Referenced by poll_topics(), and Run().

◆ _estimator_status_sub

uORB::Subscription AirspeedModule::_estimator_status_sub {ORB_ID(estimator_status)}
private

Definition at line 109 of file airspeed_selector_main.cpp.

Referenced by poll_topics().

◆ _ground_minus_wind_EAS

float AirspeedModule::_ground_minus_wind_EAS {0.0f}
private

equivalent airspeed from groundspeed minus windspeed

Definition at line 143 of file airspeed_selector_main.cpp.

Referenced by Run(), select_airspeed_and_publish(), and update_ground_minus_wind_airspeed().

◆ _ground_minus_wind_TAS

float AirspeedModule::_ground_minus_wind_TAS {0.0f}
private

true airspeed from groundspeed minus windspeed

Definition at line 142 of file airspeed_selector_main.cpp.

Referenced by select_airspeed_and_publish(), and update_ground_minus_wind_airspeed().

◆ _in_takeoff_situation

bool AirspeedModule::_in_takeoff_situation {true}
private

in takeoff situation (defined as not yet stall speed reached)

Definition at line 141 of file airspeed_selector_main.cpp.

Referenced by Run().

◆ _initialized

bool AirspeedModule::_initialized {false}
private

module initialized

Definition at line 139 of file airspeed_selector_main.cpp.

Referenced by Run().

◆ _mavlink_log_pub

orb_advert_t AirspeedModule::_mavlink_log_pub {nullptr}
private

mavlink log topic

Definition at line 107 of file airspeed_selector_main.cpp.

Referenced by select_airspeed_and_publish(), task_spawn(), and update_params().

◆ _number_of_airspeed_sensors

int32_t AirspeedModule::_number_of_airspeed_sensors {0}
private

number of airspeed sensors in use (detected during initialization)

Definition at line 132 of file airspeed_selector_main.cpp.

Referenced by check_for_connected_airspeed_sensors(), print_status(), Run(), select_airspeed_and_publish(), task_spawn(), and update_params().

◆ _param_sub

uORB::Subscription AirspeedModule::_param_sub {ORB_ID(parameter_update)}
private

Definition at line 110 of file airspeed_selector_main.cpp.

Referenced by Run().

◆ _perf_elapsed

perf_counter_t AirspeedModule::_perf_elapsed {}
private

Definition at line 147 of file airspeed_selector_main.cpp.

Referenced by AirspeedModule(), print_status(), Run(), and ~AirspeedModule().

◆ _prev_airspeed_index

int AirspeedModule::_prev_airspeed_index {-2}
private

previously chosen airspeed sensor index

Definition at line 138 of file airspeed_selector_main.cpp.

Referenced by select_airspeed_and_publish(), and task_spawn().

◆ _prev_number_of_airspeed_sensors

int32_t AirspeedModule::_prev_number_of_airspeed_sensors {0}
private

number of airspeed sensors in previous loop (to detect a new added sensor)

Definition at line 133 of file airspeed_selector_main.cpp.

Referenced by select_airspeed_and_publish().

◆ _scale_estimation_previously_on

bool AirspeedModule::_scale_estimation_previously_on {false}
private

scale_estimation was on in the last cycle

Definition at line 145 of file airspeed_selector_main.cpp.

Referenced by update_params().

◆ _time_now_usec

hrt_abstime AirspeedModule::_time_now_usec {0}
private

Definition at line 136 of file airspeed_selector_main.cpp.

Referenced by poll_topics(), Run(), select_airspeed_and_publish(), and update_wind_estimator_sideslip().

◆ _valid_airspeed_index

int AirspeedModule::_valid_airspeed_index {-2}
private

index of currently chosen (valid) airspeed sensor

Definition at line 137 of file airspeed_selector_main.cpp.

Referenced by select_airspeed_and_publish(), task_spawn(), and update_params().

◆ _vehicle_acceleration_sub

uORB::Subscription AirspeedModule::_vehicle_acceleration_sub {ORB_ID(vehicle_acceleration)}
private

Definition at line 111 of file airspeed_selector_main.cpp.

Referenced by poll_topics().

◆ _vehicle_air_data

vehicle_air_data_s AirspeedModule::_vehicle_air_data {}
private

Definition at line 122 of file airspeed_selector_main.cpp.

Referenced by poll_topics(), Run(), and update_ground_minus_wind_airspeed().

◆ _vehicle_air_data_sub

uORB::Subscription AirspeedModule::_vehicle_air_data_sub {ORB_ID(vehicle_air_data)}
private

Definition at line 112 of file airspeed_selector_main.cpp.

Referenced by poll_topics().

◆ _vehicle_attitude

vehicle_attitude_s AirspeedModule::_vehicle_attitude {}
private

Definition at line 123 of file airspeed_selector_main.cpp.

Referenced by poll_topics(), Run(), and update_wind_estimator_sideslip().

◆ _vehicle_attitude_sub

uORB::Subscription AirspeedModule::_vehicle_attitude_sub {ORB_ID(vehicle_attitude)}
private

Definition at line 113 of file airspeed_selector_main.cpp.

Referenced by poll_topics().

◆ _vehicle_land_detected

vehicle_land_detected_s AirspeedModule::_vehicle_land_detected {}
private

Definition at line 124 of file airspeed_selector_main.cpp.

Referenced by poll_topics(), Run(), and select_airspeed_and_publish().

◆ _vehicle_land_detected_sub

uORB::Subscription AirspeedModule::_vehicle_land_detected_sub {ORB_ID(vehicle_land_detected)}
private

Definition at line 114 of file airspeed_selector_main.cpp.

Referenced by poll_topics().

◆ _vehicle_local_position

vehicle_local_position_s AirspeedModule::_vehicle_local_position {}
private

Definition at line 125 of file airspeed_selector_main.cpp.

Referenced by poll_topics(), Run(), update_ground_minus_wind_airspeed(), and update_wind_estimator_sideslip().

◆ _vehicle_local_position_sub

uORB::Subscription AirspeedModule::_vehicle_local_position_sub {ORB_ID(vehicle_local_position)}
private

Definition at line 115 of file airspeed_selector_main.cpp.

Referenced by poll_topics().

◆ _vehicle_local_position_valid

bool AirspeedModule::_vehicle_local_position_valid {false}
private

local position (from GPS) valid

Definition at line 140 of file airspeed_selector_main.cpp.

Referenced by poll_topics(), Run(), select_airspeed_and_publish(), and update_wind_estimator_sideslip().

◆ _vehicle_status

vehicle_status_s AirspeedModule::_vehicle_status {}
private

Definition at line 126 of file airspeed_selector_main.cpp.

Referenced by poll_topics(), and Run().

◆ _vehicle_status_sub

uORB::Subscription AirspeedModule::_vehicle_status_sub {ORB_ID(vehicle_status)}
private

Definition at line 116 of file airspeed_selector_main.cpp.

Referenced by poll_topics().

◆ _vtol_vehicle_status

vtol_vehicle_status_s AirspeedModule::_vtol_vehicle_status {}
private

Definition at line 127 of file airspeed_selector_main.cpp.

Referenced by poll_topics(), and Run().

◆ _vtol_vehicle_status_sub

uORB::Subscription AirspeedModule::_vtol_vehicle_status_sub {ORB_ID(vtol_vehicle_status)}
private

Definition at line 117 of file airspeed_selector_main.cpp.

Referenced by poll_topics().

◆ _wind_est_pub

uORB::PublicationMulti<wind_estimate_s> AirspeedModule::_wind_est_pub[MAX_NUM_AIRSPEED_SENSORS+1] {{ORB_ID(wind_estimate)}, {ORB_ID(wind_estimate)}, {ORB_ID(wind_estimate)}, {ORB_ID(wind_estimate)}}
private

wind estimate topic (for each airspeed validator + purely sideslip fusion)

Definition at line 106 of file airspeed_selector_main.cpp.

Referenced by select_airspeed_and_publish().

◆ _wind_estimate_sideslip

wind_estimate_s AirspeedModule::_wind_estimate_sideslip {}
private

wind estimate message for wind estimator instance only fusing sideslip

Definition at line 130 of file airspeed_selector_main.cpp.

Referenced by select_airspeed_and_publish(), update_ground_minus_wind_airspeed(), and update_wind_estimator_sideslip().

◆ _wind_estimator_sideslip

WindEstimator AirspeedModule::_wind_estimator_sideslip
private

wind estimator instance only fusing sideslip

Definition at line 129 of file airspeed_selector_main.cpp.

Referenced by update_params(), and update_wind_estimator_sideslip().

◆ MAX_NUM_AIRSPEED_SENSORS

constexpr int AirspeedModule::MAX_NUM_AIRSPEED_SENSORS = 3
staticprivate

Support max 3 airspeed sensors.

Definition at line 96 of file airspeed_selector_main.cpp.

Referenced by check_for_connected_airspeed_sensors().

The documentation for this class was generated from the following file: