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5842c991ec
Synthetic airspeed is calculated based on the thrust setpoint and the thrust<->airpseed model as configured in the parameters.
52 lines
2.4 KiB
C++
52 lines
2.4 KiB
C++
/****************************************************************************
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* Copyright (c) 2025 PX4 Development Team.
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* SPDX-License-Identifier: BSD-3-Clause
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****************************************************************************/
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#pragma once
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// Translate AirspeedValidated v0 <--> v1
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#include <px4_msgs_old/msg/airspeed_validated_v0.hpp>
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#include <px4_msgs/msg/airspeed_validated.hpp>
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class AirspeedValidatedV1Translation {
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public:
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using MessageOlder = px4_msgs_old::msg::AirspeedValidatedV0;
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static_assert(MessageOlder::MESSAGE_VERSION == 0);
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using MessageNewer = px4_msgs::msg::AirspeedValidated;
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static_assert(MessageNewer::MESSAGE_VERSION == 1);
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static constexpr const char* kTopic = "fmu/out/airspeed_validated";
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static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
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// Set msg_newer from msg_older
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msg_newer.timestamp = msg_older.timestamp;
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msg_newer.indicated_airspeed_m_s = msg_older.indicated_airspeed_m_s;
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msg_newer.calibrated_airspeed_m_s = msg_older.calibrated_airspeed_m_s;
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msg_newer.true_airspeed_m_s = msg_older.true_airspeed_m_s;
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msg_newer.airspeed_source = msg_older.selected_airspeed_index;
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msg_newer.calibrated_ground_minus_wind_m_s = msg_older.calibrated_ground_minus_wind_m_s;
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msg_newer.calibraded_airspeed_synth_m_s = NAN;
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msg_newer.airspeed_derivative_filtered = msg_older.airspeed_derivative_filtered;
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msg_newer.throttle_filtered = msg_older.throttle_filtered;
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msg_newer.pitch_filtered = msg_older.pitch_filtered;
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}
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static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
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// Set msg_older from msg_newer
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msg_older.timestamp = msg_newer.timestamp;
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msg_older.indicated_airspeed_m_s = msg_newer.indicated_airspeed_m_s;
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msg_older.calibrated_airspeed_m_s = msg_newer.calibrated_airspeed_m_s;
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msg_older.true_airspeed_m_s = msg_newer.true_airspeed_m_s;
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msg_older.calibrated_ground_minus_wind_m_s = msg_newer.calibrated_ground_minus_wind_m_s;
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msg_older.true_ground_minus_wind_m_s = msg_newer.calibrated_ground_minus_wind_m_s;
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msg_older.airspeed_sensor_measurement_valid = msg_newer.airspeed_source > 0 && msg_newer.airspeed_source <= 3;
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msg_older.selected_airspeed_index = msg_newer.airspeed_source;
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msg_older.airspeed_derivative_filtered = msg_newer.airspeed_derivative_filtered;
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msg_older.throttle_filtered = msg_newer.throttle_filtered;
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msg_older.pitch_filtered = msg_newer.pitch_filtered;
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}
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};
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REGISTER_TOPIC_TRANSLATION_DIRECT(AirspeedValidatedV1Translation);
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