Paul Riseborough
Paul Riseborough
The SV, SP, SH and SM are probably best described as 'Squared Innovation Test Ratios' where values 1 tells us it was rejected. They represent the square of the (innovation...
The difference is essentially one of the transformation used to go from S to Z domain. Both this and the suggested implementation give unity gain at the high frequency asymptote...
I'm OK with the concept and after walking through the code have convinced myself that we will not have a circular dependency when simultaneously using range finder for height and...
The interaction between the airspeed library fault handling and the EKF and TECS is complex, so this needs careful review and testing in SITL.
I've added an autotest that tests the effect of a blocked pitot tube that then partially unblock before fully unblocking. The following figure shows how the airspeed sensor is disabled...
@pompecukor this is ready for testing.
@tridge Please describe the flight testing that you think is necessary to have this approved for merge. TXS.
Thank you @pompecukor for that test. Here is the test ratio for the failed sensor showing that when the ARSPD_RATIO was reduced to simulate a blocked sensor, the consistency test...
@WickedShell A slow failure like the one you describe will not be picked up during straight and level flight because it will be indistinguishable from a increasing tail wind, however...
> I've seen multiple MS4525DO based airspeed sensors fail slowly inflight where it drifts off on the scale of 150 pascals a minute or so and the plane was flying...