lib: name folders consistently

2026-10-22 18:13:34 +08:00 · 2019-11-13 09:29:21 -05:00
parent c5520cbaca
commit 7996ee496c
101 changed files with 12 additions and 12 deletions
@@ -0,0 +1,254 @@
+/****************************************************************************
+ *
+ *   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.cpp
+ * Estimates airspeed scale error (from indicated to equivalent airspeed), performes
+ * checks on airspeed measurement input and reports airspeed valid or invalid.
+ */
+
+#include "AirspeedValidator.hpp"
+
+
+void
+AirspeedValidator::update_airspeed_validator(const airspeed_validator_update_data &input_data)
+{
+	// get indicated airspeed from input data (raw airspeed)
+	_IAS = input_data.airspeed_indicated_raw;
+
+	// to be able to detect missing data, save timestamp (used in data_missing check)
+	if (input_data.airspeed_timestamp != _previous_airspeed_timestamp && input_data.airspeed_timestamp > 0) {
+		_time_last_airspeed = input_data.timestamp;
+		_previous_airspeed_timestamp = input_data.airspeed_timestamp;
+	}
+
+	update_EAS_scale();
+	update_EAS_TAS(input_data.air_pressure_pa, input_data.air_temperature_celsius);
+	update_wind_estimator(input_data.timestamp, input_data.airspeed_true_raw, input_data.lpos_valid, input_data.lpos_vx,
+			      input_data.lpos_vy,
+			      input_data.lpos_vz, input_data.lpos_evh, input_data.lpos_evv, input_data.att_q);
+	update_in_fixed_wing_flight(input_data.in_fixed_wing_flight);
+	check_airspeed_innovation(input_data.timestamp, input_data.vel_test_ratio, input_data.mag_test_ratio);
+	check_load_factor(input_data.accel_z);
+	update_airspeed_valid_status(input_data.timestamp);
+}
+
+void
+AirspeedValidator::update_wind_estimator(const uint64_t time_now_usec, 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])
+{
+	bool att_valid = true; // att_valid could also be a input_data state
+
+	_wind_estimator.update(time_now_usec);
+
+	if (lpos_valid && att_valid && _in_fixed_wing_flight) {
+
+		Vector3f vI(lpos_vx, lpos_vy, lpos_vz);
+		Quatf q(att_q);
+
+		// sideslip fusion
+		_wind_estimator.fuse_beta(time_now_usec, vI, q);
+
+		// airspeed fusion (with raw TAS)
+		const Vector3f vel_var{Dcmf(q) *Vector3f{lpos_evh, lpos_evh, lpos_evv}};
+		_wind_estimator.fuse_airspeed(time_now_usec, airspeed_true_raw, vI, Vector2f{vel_var(0), vel_var(1)});
+	}
+}
+
+// this function returns the current states of the wind estimator to be published in the airspeed module
+wind_estimate_s
+AirspeedValidator::get_wind_estimator_states(uint64_t timestamp)
+{
+	wind_estimate_s wind_est = {};
+
+	wind_est.timestamp = timestamp;
+	float wind[2];
+	_wind_estimator.get_wind(wind);
+	wind_est.windspeed_north = wind[0];
+	wind_est.windspeed_east = wind[1];
+	float wind_cov[2];
+	_wind_estimator.get_wind_var(wind_cov);
+	wind_est.variance_north = wind_cov[0];
+	wind_est.variance_east = wind_cov[1];
+	wind_est.tas_innov = _wind_estimator.get_tas_innov();
+	wind_est.tas_innov_var = _wind_estimator.get_tas_innov_var();
+	wind_est.beta_innov = _wind_estimator.get_beta_innov();
+	wind_est.beta_innov_var = _wind_estimator.get_beta_innov_var();
+	wind_est.tas_scale = _wind_estimator.get_tas_scale();
+	return wind_est;
+}
+
+void
+AirspeedValidator::update_EAS_scale()
+{
+	_EAS_scale = 1.0f / math::constrain(_wind_estimator.get_tas_scale(), 0.75f, 1.25f);
+}
+
+void
+AirspeedValidator::update_EAS_TAS(float air_pressure_pa, float air_temperature_celsius)
+{
+	_EAS = calc_EAS_from_IAS(_IAS, _EAS_scale);
+	_TAS = calc_TAS_from_EAS(_EAS, air_pressure_pa, air_temperature_celsius);
+}
+
+void
+AirspeedValidator::check_airspeed_innovation(uint64_t time_now, float estimator_status_vel_test_ratio,
+		float estimator_status_mag_test_ratio)
+{
+	// Check normalised innovation levels with requirement for continuous data and use of hysteresis
+	// to prevent false triggering.
+
+	if (_wind_estimator.get_wind_estimator_reset()) {
+		_time_wind_estimator_initialized = time_now;
+	}
+
+	/* Reset states if we are not flying */
+	if (!_in_fixed_wing_flight) {
+		// not in a flight condition that enables use of this check, thus pass check
+		_innovations_check_failed = false;
+		_time_last_tas_pass = time_now;
+		_time_last_tas_fail = 0;
+		_airspeed_valid = true;
+		_time_last_aspd_innov_check = time_now;
+
+	} else {
+		float dt_s = math::max((time_now - _time_last_aspd_innov_check) / 1e6f, 0.01f); // limit to 100Hz
+
+		if (dt_s < 1.0f) {
+			// Compute the ratio of innovation to gate size
+			float tas_test_ratio = _wind_estimator.get_tas_innov() * _wind_estimator.get_tas_innov()
+					       / (fmaxf(_tas_gate, 1.0f) * fmaxf(_tas_gate, 1.0f) * _wind_estimator.get_tas_innov_var());
+
+			if (tas_test_ratio <= _tas_innov_threshold) {
+				// record pass and reset integrator used to trigger
+				_time_last_tas_pass = time_now;
+				_apsd_innov_integ_state = 0.0f;
+
+			} else {
+				// integrate exceedance
+				_apsd_innov_integ_state += dt_s * (tas_test_ratio - _tas_innov_threshold);
+			}
+
+			if ((estimator_status_vel_test_ratio < 1.0f) && (estimator_status_mag_test_ratio < 1.0f)) {
+				// nav velocity data is likely good so airspeed innovations are able to be used
+				if ((_tas_innov_integ_threshold > 0.0f) && (_apsd_innov_integ_state > _tas_innov_integ_threshold)) {
+					_time_last_tas_fail = time_now;
+				}
+			}
+
+			if (!_innovations_check_failed) {
+				_innovations_check_failed = (time_now - _time_last_tas_pass) > TAS_INNOV_FAIL_DELAY;
+
+			} else {
+				_innovations_check_failed = ((time_now - _time_last_tas_fail) < TAS_INNOV_FAIL_DELAY * 100)
+							    || (time_now - _time_wind_estimator_initialized) < TAS_INNOV_FAIL_DELAY * 100;
+			}
+		}
+
+		_time_last_aspd_innov_check = time_now;
+	}
+}
+
+
+void
+AirspeedValidator::check_load_factor(float accel_z)
+{
+	// Check if the airpeed reading is lower than physically possible given the load factor
+
+	bool bad_number_fail = false; // disable this for now
+
+	if (_in_fixed_wing_flight) {
+
+		if (!bad_number_fail) {
+			float max_lift_ratio = fmaxf(_EAS, 0.7f) / fmaxf(_airspeed_stall, 1.0f);
+			max_lift_ratio *= max_lift_ratio;
+
+			_load_factor_ratio = 0.95f * _load_factor_ratio + 0.05f * (fabsf(accel_z) / 9.81f) / max_lift_ratio;
+			_load_factor_ratio = math::constrain(_load_factor_ratio, 0.25f, 2.0f);
+			_load_factor_check_failed = (_load_factor_ratio > 1.1f);
+
+		} else {
+			_load_factor_check_failed = true; // bad number fail
+		}
+
+	} else {
+
+		_load_factor_ratio = 0.5f; // reset if not in fixed-wing flight (and not in takeoff condition)
+	}
+
+}
+
+
+void
+AirspeedValidator::update_airspeed_valid_status(const uint64_t timestamp)
+{
+
+	bool bad_number_fail = false; // disable this for now
+
+	// Check if sensor data is missing - assume a minimum 5Hz data rate.
+	const bool data_missing = (timestamp - _time_last_airspeed) > 200_ms;
+
+	// Declare data stopped if not received for longer than 1 second
+	_data_stopped_failed = (timestamp - _time_last_airspeed) > 1_s;
+
+	if (_innovations_check_failed || _load_factor_check_failed || data_missing || bad_number_fail) {
+		// either innovation, load factor or data missing check failed, so declare airspeed failing and record timestamp
+		_time_checks_failed = timestamp;
+		_airspeed_failing = true;
+
+	} else if (!_innovations_check_failed && !_load_factor_check_failed && !data_missing && !bad_number_fail) {
+		// All checks must pass to declare airspeed good
+		_time_checks_passed = timestamp;
+		_airspeed_failing = false;
+
+	}
+
+	if (_airspeed_valid) {
+		// A simultaneous load factor and innovaton check fail makes it more likely that a large
+		// airspeed measurement fault has developed, so a fault should be declared immediately
+		const bool both_checks_failed = (_innovations_check_failed && _load_factor_check_failed);
+
+		// Because the innovation, load factor and data missing checks are subject to short duration false positives
+		// a timeout period is applied.
+		const bool single_check_fail_timeout = (timestamp - _time_checks_passed) > _checks_fail_delay * 1_s;
+
+		if (_data_stopped_failed || both_checks_failed || single_check_fail_timeout || bad_number_fail) {
+
+			_airspeed_valid = false;
+		}
+
+	} else if ((timestamp - _time_checks_failed) > _checks_clear_delay * 1_s) {
+		_airspeed_valid = true;
+	}
+}