wind_estimator: move from ecl and consolidate airspeed selector

src/modules/airspeed_selector/AirspeedValidator.hpp

@@ -0,0 +1,167 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file AirspeedValidator.hpp
+ * Calculates airspeed from differential pressure and checks if this airspeed is valid.
+ */
+
+#pragma once
+
+#include <airspeed/airspeed.h>
+#include <lib/wind_estimator/WindEstimator.hpp>
+#include <uORB/topics/airspeed_wind.h>
+
+
+using matrix::Dcmf;
+using matrix::Quatf;
+using matrix::Vector2f;
+using matrix::Vector3f;
+
+using namespace time_literals;
+
+struct airspeed_validator_update_data {
+	uint64_t timestamp;
+	float airspeed_indicated_raw;
+	float airspeed_true_raw;
+	uint64_t airspeed_timestamp;
+	float lpos_vx;
+	float lpos_vy;
+	float lpos_vz;
+	bool lpos_valid;
+	float lpos_evh;
+	float lpos_evv;
+	float att_q[4];
+	float air_pressure_pa;
+	float air_temperature_celsius;
+	float accel_z;
+	float vel_test_ratio;
+	float mag_test_ratio;
+	bool in_fixed_wing_flight;
+};
+
+class AirspeedValidator
+{
+public:
+	AirspeedValidator() = default;
+	~AirspeedValidator() = default;
+
+	void update_airspeed_validator(const airspeed_validator_update_data &input_data);
+
+	void reset_airspeed_to_invalid(const uint64_t timestamp);
+
+	float get_IAS() { return _IAS; }
+	float get_CAS() { return _CAS; }
+	float get_TAS() { return _TAS; }
+	bool get_airspeed_valid() { return _airspeed_valid; }
+	float get_CAS_scale() {return _CAS_scale;}
+
+	airspeed_wind_s get_wind_estimator_states(uint64_t timestamp);
+
+	// setters wind estimator parameters
+	void set_wind_estimator_wind_p_noise(float wind_sigma) { _wind_estimator.set_wind_p_noise(wind_sigma); }
+	void set_wind_estimator_tas_scale_p_noise(float tas_scale_sigma) { _wind_estimator.set_tas_scale_p_noise(tas_scale_sigma); }
+	void set_wind_estimator_tas_noise(float tas_sigma) { _wind_estimator.set_tas_noise(tas_sigma); }
+	void set_wind_estimator_beta_noise(float beta_var) { _wind_estimator.set_beta_noise(beta_var); }
+	void set_wind_estimator_tas_gate(uint8_t gate_size)
+	{
+		_tas_gate = gate_size;
+		_wind_estimator.set_tas_gate(gate_size);
+	}
+
+	void set_wind_estimator_beta_gate(uint8_t gate_size) { _wind_estimator.set_beta_gate(gate_size); }
+	void set_wind_estimator_scale_estimation_on(bool scale_estimation_on) { _wind_estimator_scale_estimation_on = scale_estimation_on;}
+
+	void set_airspeed_scale_manual(float airspeed_scale_manual);
+
+	// setters for failure detection tuning parameters
+	void set_tas_innov_threshold(float tas_innov_threshold) { _tas_innov_threshold = tas_innov_threshold; }
+	void set_tas_innov_integ_threshold(float tas_innov_integ_threshold) { _tas_innov_integ_threshold = tas_innov_integ_threshold; }
+	void set_checks_fail_delay(float checks_fail_delay) { _checks_fail_delay = checks_fail_delay; }
+	void set_checks_clear_delay(float checks_clear_delay) { _checks_clear_delay = checks_clear_delay; }
+
+	void set_airspeed_stall(float airspeed_stall) { _airspeed_stall = airspeed_stall; }
+
+private:
+
+	WindEstimator _wind_estimator{}; ///< wind estimator instance running in this particular airspeedValidator
+
+	// wind estimator parameter
+	bool _wind_estimator_scale_estimation_on{false};	///< online scale estimation (IAS-->CAS) is on
+	float _airspeed_scale_manual{1.0f}; ///< manually entered airspeed scale
+
+	// general states
+	bool _in_fixed_wing_flight{false}; ///< variable to bypass innovation and load factor checks
+	float _IAS{0.0f}; ///< indicated airsped in m/s
+	float _CAS{0.0f}; ///< calibrated airspeed in m/s
+	float _TAS{0.0f}; ///< true airspeed in m/s
+	float _CAS_scale{1.0f}; ///< scale factor from IAS to CAS
+
+	// states of innovation check
+	float _tas_gate{1.0f}; ///< gate size of airspeed innovation (to calculate tas_test_ratio)
+	bool _innovations_check_failed{false};  ///< true when airspeed innovations have failed consistency checks
+	float _tas_innov_threshold{1.0}; ///< innovation error threshold for triggering innovation check failure
+	float _tas_innov_integ_threshold{-1.0}; ///< integrator innovation error threshold for triggering innovation check failure
+	uint64_t	_time_last_aspd_innov_check{0};	///< time airspeed innovation was last checked (uSec)
+	uint64_t	_time_last_tas_pass{0};		///< last time innovation checks passed
+	float		_apsd_innov_integ_state{0.0f};	///< integral of excess normalised airspeed innovation (sec)
+	static constexpr uint64_t TAS_INNOV_FAIL_DELAY{1_s};	///< time required for innovation levels to pass or fail (usec)
+	uint64_t	_time_wind_estimator_initialized{0};		///< time last time wind estimator was initialized (uSec)
+
+	// states of load factor check
+	bool _load_factor_check_failed{false}; ///< load_factor check has detected failure
+	float _airspeed_stall{8.0f}; ///< stall speed of aircraft used for load factor check
+	float	_load_factor_ratio{0.5f};	///< ratio of maximum load factor predicted by stall speed to measured load factor
+
+	// states of airspeed valid declaration
+	bool _airspeed_valid{true}; ///< airspeed valid (pitot or groundspeed-windspeed)
+	int _checks_fail_delay{3}; ///< delay for airspeed invalid declaration after single check failure (Sec)
+	int _checks_clear_delay{3}; ///< delay for airspeed valid declaration after all checks passed again (Sec)
+	uint64_t	_time_checks_passed{0};	///< time the checks have last passed (uSec)
+	uint64_t	_time_checks_failed{0};	///< time the checks have last not passed (uSec)
+
+	void update_in_fixed_wing_flight(bool in_fixed_wing_flight) { _in_fixed_wing_flight = in_fixed_wing_flight; }
+
+	void update_wind_estimator(const uint64_t timestamp, float airspeed_true_raw, bool lpos_valid, float lpos_vx,
+				   float lpos_vy,
+				   float lpos_vz,
+				   float lpos_evh, float lpos_evv, const float att_q[4]);
+	void update_CAS_scale();
+	void update_CAS_TAS(float air_pressure_pa, float air_temperature_celsius);
+	void check_airspeed_innovation(uint64_t timestamp, float estimator_status_vel_test_ratio,
+				       float estimator_status_mag_test_ratio);
+	void check_load_factor(float accel_z);
+	void update_airspeed_valid_status(const uint64_t timestamp);
+	void reset();
+
+};