AP_AHRS: ensure we check health of the sensor we are using. #25272
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IamPete1
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IamPete1
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Oct 15, 2023
| @@ -832,8 +841,8 @@ bool AP_AHRS::airspeed_sensor_enabled(void) const | |||
| bool AP_AHRS::_airspeed_estimate(float &airspeed_ret, AirspeedEstimateType &airspeed_estimate_type) const | |||
| { | |||
| #if AP_AIRSPEED_ENABLED && AP_GPS_ENABLED | |||
| if (airspeed_sensor_enabled()) { | |||
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This is the issues were fixing, this line checks the PRIMARY sensor is set to use and healthy.
IamPete1
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Oct 15, 2023
| @@ -832,8 +841,8 @@ bool AP_AHRS::airspeed_sensor_enabled(void) const | |||
| bool AP_AHRS::_airspeed_estimate(float &airspeed_ret, AirspeedEstimateType &airspeed_estimate_type) const | |||
| { | |||
| #if AP_AIRSPEED_ENABLED && AP_GPS_ENABLED | |||
| if (airspeed_sensor_enabled()) { | |||
| uint8_t idx = get_active_airspeed_index(); | |||
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This function may then return another sensor which is not the PRIMARY so it could be set to not use, or unhealthy. Or conversely we could not be using a backup sensor because the primary is not healthy or not set to use.
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tridge
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CraigElder
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The
airspeed_sensor_enabled()function checks the primary sensor, however, we may not be using the primary sensor thanks to affinity.The problem is whenever affinity tries to use a sensor other than primary. It checks health, but not use.
ardupilot/libraries/AP_AHRS/AP_AHRS.cpp
Lines 3080 to 3085 in e0a0129
I should add that I have not checked if affinity could actually try and use a sensor which is not set to use. So this may or may-not be possible to hit this issue.