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Merged
merged 6 commits into from
May 2, 2025
Merged

Add synthetic airspeed based on thrust #24522

merged 6 commits into from
May 2, 2025

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haumarco
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Solved Problem

Currently, when an airspeed sensor failure occurs while flying without GNSS/OF/EV, the system triggers a failsafe after five seconds of inertial dead reckoning. However, with a properly tuned system, it is possible to estimate airspeed based on thrust input.

Solution

Synthetic airspeed is estimated based on interpolation between the current thrust and the FW_AIRSPD_xx, FW_THR_ASPD_xx parameter values. For the system to use synthetic airspeed, the ASPD_FALLBACK parameter needs to be adjusted accordingly. The user still receives an airspeed sensor failure warning (RTL recommended) but can continue flying with a valid local position estimate.

Changelog Entry

For release notes:

Feature/Bugfix Add synthetic airspeed
Parameter ASPD_FALLBACK and uorb msg AirspeedValidated were changed.

Test coverage

  • Currently only SITL, hardware tests will follow

@haumarco haumarco requested a review from sfuhrer March 17, 2025 12:52
bresch
bresch requested changes Mar 18, 2025
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@haumarco haumarco force-pushed the pr-aspd_add_synthetic_airspeed branch from fe87eb4 to 130660a Compare March 18, 2025 16:43
bresch
bresch requested changes Mar 18, 2025
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bresch
bresch requested changes Mar 18, 2025
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@haumarco haumarco force-pushed the pr-aspd_add_synthetic_airspeed branch from 130660a to 7dc566e Compare March 19, 2025 08:02
bresch
bresch requested changes Mar 19, 2025
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bresch
bresch requested changes Mar 20, 2025
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@haumarco haumarco force-pushed the pr-aspd_add_synthetic_airspeed branch from 3be62de to d26a98d Compare March 20, 2025 09:38
sfuhrer
sfuhrer reviewed Mar 20, 2025
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@sfuhrer sfuhrer left a comment •
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We need to make sure that the synthetic airspeed is not used by the FW position controller and the VTOL transitions, as it there would do more harm that good.

  • transitions would be prematurely declared "done" when the throttle is above a threshold
  • FW TECS would consume a throttle based airspeed "measurement" to control the vehicle throttle...

dagar
dagar reviewed Mar 26, 2025
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dagar commented Mar 26, 2025

If just about every consumer of airspeed needs to be aware of this and now check would it maybe be less bad to simply publish synthetic airspeed separately?

@sfuhrer
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sfuhrer commented Mar 26, 2025

If just about every consumer of airspeed needs to be aware of this and now check would it maybe be less bad to simply publish synthetic airspeed separately?

I considered that as well, but opted to not push for it because:

  • we would need to publish IAS, CAS and TAS fields with synthetic airspeed
  • we'd need to replicate the failover logic at all places where airspeed is consumed (which is likely not cleaner than the current way of blocking some sources)
  • I want to propose to split up the current airspeed_validated topic into two:
    • one that contains the actually consumed fields: IAS, CAS, TAS, Source (versioned)
    • debug fields

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github-actions bot commented Mar 27, 2025 •
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Updated: 2025-05-02T09:31:26

@haumarco haumarco force-pushed the pr-aspd_add_synthetic_airspeed branch 4 times, most recently from 9b6ed32 to feafdbb Compare March 31, 2025 08:48
@sfuhrer sfuhrer force-pushed the pr-aspd_add_synthetic_airspeed branch from 2dd5254 to b6b1ed1 Compare April 4, 2025 15:03
@haumarco haumarco force-pushed the pr-aspd_add_synthetic_airspeed branch from b6b1ed1 to a963891 Compare April 4, 2025 18:15
bresch
bresch requested changes Apr 16, 2025
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@haumarco haumarco force-pushed the pr-aspd_add_synthetic_airspeed branch 2 times, most recently from 57d06b4 to 176a565 Compare April 29, 2025 13:57
@bresch bresch self-requested a review April 29, 2025 15:01
bresch
bresch previously approved these changes Apr 29, 2025
View reviewed changes
@sfuhrer sfuhrer force-pushed the pr-aspd_add_synthetic_airspeed branch from 176a565 to 7ffd694 Compare April 30, 2025 11:09
@sfuhrer
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sfuhrer commented Apr 30, 2025 •
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Squashed last two commits and rebased on main. Will merge if CI passes.
EDIT: CI failures:

  • px4-ros2-interface-lib: need to remove airspeed_sensor_measurement_valid
  • v6x: over flash by 168 bytes

I further wonder if we should wait till 1.16 is branched off before merging it.

haumarco and others added 6 commits May 2, 2025 11:25
@haumarco @sfuhrer
AirspeedSelector: clean up in preparation of synthetic airspeed
fd2a23e
@haumarco @sfuhrer
AirspeedSelector: add synthetic airspeed option
c98feb6 
Synthetic airspeed is calculated based on the thrust setpoint
and the thrust<->airpseed model as configured in the parameters.
@sfuhrer
At every consumation of AirspeedValidated, check for SOURCE
fe9226b 
Signed-off-by: Silvan <silvan@auterion.com>
@sfuhrer
VTOL: do central handling of airspeed measurement
8b2d612 
    - only use data from airspeed_validated topic if source is SENSOR
    - add 1s timeout (set to NAN if older)
    - use FW_USE_AIRSPD consitently (treat the same as CAS=NAN)

Signed-off-by: Silvan <silvan@auterion.com>
@haumarco @sfuhrer
EKF2: distinguish airspeed source and use synthetic for wind
d62df37 
Enable wind-dead-reckoning with airspeed source to synthetic airspeed
@sfuhrer
ROMFS: exclude 4020_holybro_px4vision_v1_5 from v6x builds to save flash
4f01928 
Signed-off-by: Silvan <silvan@auterion.com>
@sfuhrer sfuhrer force-pushed the pr-aspd_add_synthetic_airspeed branch from 953e8b4 to 4f01928 Compare May 2, 2025 09:25
@sfuhrer sfuhrer merged commit 9188480 into main May 2, 2025
65 of 67 checks passed
@sfuhrer sfuhrer deleted the pr-aspd_add_synthetic_airspeed branch May 2, 2025 11:37
@github-project-automation github-project-automation bot moved this to ✅ Done in PX4 FW/VTOL May 2, 2025
@hamishwillee
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Is there any doc impact (I assume not). Likely places would be https://docs.px4.io/main/en/advanced_config/tuning_the_ecl_ekf.html#synthetic-sideslip

@sfuhrer sfuhrer mentioned this pull request Jul 15, 2025
Merged
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@haumarco @dagar @sfuhrer @hamishwillee @bresch