simplify massively again

noticed that we do not need to handle transition at all in
update_throttle_filter because there is a if (fw) around everything. if
as a fallback we give trim throttle it will always give trim airspeed in
those cases

Author: mbjd

src/modules/airspeed_selector/airspeed_selector_main.cpp

@@ -842,56 +842,10 @@ float AirspeedModule::get_synthetic_airspeed(float throttle)
 
 void AirspeedModule::update_throttle_filter(hrt_abstime now)
 {
-	if (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
+	if (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING
+	    && _time_now_usec - _tecs_status.timestamp < 20_ms) {
 
-		float throttle_sp;
-
-		// We have two options for getting the throttle value:
-		//  - tecs_status.throttle_sp
-		//     - higher level, without battery scaling
-		//     - only available in fixed wing
-		//  - vehicle_thrust_setpoint_0
-		//     - lower level, with battery scaling
-		//     - available also in transitions
-
-		// The filtered throttle value is used for both synthetic
-		// airspeed estimation and airspeed failure detection.
-
-		// For failure detection, we must to use the TECS throttle
-		// setpoint to correctly compare against the TECS trim throttle.
-
-		// For synthetic airspeed, the TECS setpoint is also
-		// preferred, because it more closely matches what the vehicle
-		// does -- when the battery depletes and we command higher
-		// thrust to compensate for it the vehicle does not
-		// accelerate.
-
-		// However, to ensure horizontal aiding during VTOL transitions
-		// (preventing optical flow failsafes), we fall back to the raw
-		// vehicle_thrust_setpoint when TECS is not active.
-
-		if (_time_now_usec - _tecs_status.timestamp < 20_ms) {
-
-			throttle_sp = _tecs_status.throttle_sp;
-
-		} else {
-
-			vehicle_thrust_setpoint_s vehicle_thrust_setpoint_0{};
-			_vehicle_thrust_setpoint_0_sub.copy(&vehicle_thrust_setpoint_0);
-
-			throttle_sp = vehicle_thrust_setpoint_0.xyz[0];
-
-			if (_vehicle_status.is_vtol) {
-				// Use the total thrust vector length (otherwise
-				// needs special handling for tailsitters and
-				// tiltrotors)
-				throttle_sp = sqrtf(vehicle_thrust_setpoint_0.xyz[0] * vehicle_thrust_setpoint_0.xyz[0] +
-						    vehicle_thrust_setpoint_0.xyz[1] * vehicle_thrust_setpoint_0.xyz[1] +
-						    vehicle_thrust_setpoint_0.xyz[2] * vehicle_thrust_setpoint_0.xyz[2]);
-
-			}
-
-		}
+		const float throttle_sp = _tecs_status.throttle_sp;
 
 		const float dt = static_cast<float>(now - _t_last_throttle_fw) * 1e-6f;
 		_t_last_throttle_fw = now;
@@ -902,6 +856,15 @@ void AirspeedModule::update_throttle_filter(hrt_abstime now)
 		} else {
 			_throttle_sp_filtered.update(throttle_sp, dt);
 		}
+
+	} else {
+
+		// If we are not in fixed wing or no recent TECS sample exists
+		// (e.g. in transitions), get_synthetic_airspeed might still be
+		// called. Regardless of the flight phase estimation it will ALWAYS
+		// give trim airspeed if we reset the filter to trim throttle here.
+
+		_throttle_sp_filtered.update(_param_fw_thr_trim.get());
 	}
 }