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PX4 / PX4-Autopilot

PX4 Autopilot Software
https://px4.io
BSD 3-Clause "New" or "Revised" License
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[Bug]: VectorNav INS driver causing airspeed sensor to report a fault #21715

Open lashVN opened 1 year ago

lashVN commented 1 year ago

Describe the bug

Using the VectorNav driver in EKF2 disable mode, the airspeed sensor reports a failure after a short period of time since flight begin.

To Reproduce

Configure PX4 to use VectorNav driver on correct branch with a fixed-wing aircraft Disable EKF2 (instead opting for VectorNav INS) Takeoff, fly for a few minutes Observe airspeed sensor ceasing to report data

Expected behavior

Airspeed sensor continues to report data throughout flight

Screenshot / Media

No response

Flight Log

To be attached

Software Version

pr-vectornav_ins

Flight controller

Pixhawk V6C

Vehicle type

Hybrid VTOL

How are the different components wired up (including port information)

No response

Additional context

No response

lashVN commented 1 year ago

@sfuhrer , I've been working with @dagar on this issue. As I understand "the problem is [the airspeed selector is] monitoring estimator test ratios (normalized innovation squared)" which is not going to be generically available, and it'd be good to see if there's some more generic channel we could monitor for the airspeed selector. Do you have any idea on this?

sfuhrer commented 1 year ago

The main check of the airspeed validator is comparing the airspeed to ground speed and an estimated wind speed. In order to estimate the wind speed we need to fuse ground speed and vehicle heading as well, which normally come from the main estimator on board. The test ratios are only there as an extra layer of protection against estimator instabilities, and it can well be that we can get rid these checks and instead use more generic estimator flags that indicate if certain states are good to be used or not.

lashVN commented 1 year ago

it can well be that we can get rid these checks and instead use more generic estimator flags that indicate if certain states are good to be used or not

Great, is this something that needs to be investigated, or just implemented? Either way, what would it take to prioritize this fix?

dagar commented 1 year ago

In the meantime here's a way to have more direct control skipping the airspeed selector. https://github.com/PX4/PX4-Autopilot/pull/21813