[Bug] Airspeed selector invalidating data

[lashVN]

Describe the bug

~10 minutes into flight, the airspeed selector is flagging the airspeed data as invalid

To Reproduce

This issue doesn't occur every time, but is just

Expected behavior

Airspeed sensor not to be flagged as invalid

Screenshot / Media

No response

Flight Log

[No failure occurs]https://logs.px4.io/plot_app?log=19d5eeee-54f5-461d-990e-f31572208cb4
Midflight airspeed sensor failure

Software Version

Main build early May

c13e3ba

Flight controller

Pixhawk 6X

Vehicle type

None

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

No response

Additional context

System is using VectorNav driver instead of EKF2.

[lashVN]

I've been walking through this log with @dagar, and we're having trouble discerning which check is causing the airspeed selector to invalidate the airspeed data. @sfuhrer , could you provide some context as to what might be triggering the failure flagging?

I'd especially be interested to ensure whether something in the VectorNav driver isn't publishing something as the airspeed selector is expecting.

[Kim-zhi-jiang]

Found the reason？

[sfuhrer]

The airspeed got disabled because the measurement was flat for more than 2s.

Seems like the sensor you use has a low resolution of 5Pa, which then ofc makes this more likely to happen.
You can disable the check by un-setting the second bit of ASPD_DO_CHECKS.

[lashVN]

Hi @sfuhrer , thanks for your response.

This issue has only been seen when using an external INS (not EKF2). Do you believe that is a coincidence then, that it has nothing to do with the faking on EKF2 consistency checks that we've run into in the past?

[sfuhrer]

I assume it's a coincidence yes.
What airspeed sensor are you using?