move ecl L1, TECS, and data validator to PX4/Firmware

2026-07-08 01:50:34 +08:00 · 2020-06-15 14:31:05 -04:00
parent 78650bdbab
commit 87250ca47f
25 changed files with 3421 additions and 14 deletions
@@ -0,0 +1,153 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015-2020 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 DataValidator.cpp
+ *
+ * A data validation class to identify anomalies in data streams
+ *
+ * @author Lorenz Meier <lorenz@px4.io>
+ */
+
+#include "DataValidator.hpp"
+
+#include <px4_platform_common/log.h>
+
+void DataValidator::put(uint64_t timestamp, float val, uint64_t error_count_in, int priority_in)
+{
+	float data[dimensions] = {val};  // sets the first value and all others to 0
+	put(timestamp, data, error_count_in, priority_in);
+}
+
+void DataValidator::put(uint64_t timestamp, const float val[dimensions], uint64_t error_count_in, int priority_in)
+{
+
+	_event_count++;
+
+	if (error_count_in > _error_count) {
+		_error_density += (error_count_in - _error_count);
+
+	} else if (_error_density > 0) {
+		_error_density--;
+	}
+
+	_error_count = error_count_in;
+	_priority = priority_in;
+
+	for (unsigned i = 0; i < dimensions; i++) {
+		if (_time_last == 0) {
+			_mean[i] = 0;
+			_lp[i] = val[i];
+			_M2[i] = 0;
+
+		} else {
+			float lp_val = val[i] - _lp[i];
+
+			float delta_val = lp_val - _mean[i];
+			_mean[i] += delta_val / _event_count;
+			_M2[i] += delta_val * (lp_val - _mean[i]);
+			_rms[i] = sqrtf(_M2[i] / (_event_count - 1));
+
+			if (fabsf(_value[i] - val[i]) < 0.000001f) {
+				_value_equal_count++;
+
+			} else {
+				_value_equal_count = 0;
+			}
+		}
+
+		// XXX replace with better filter, make it auto-tune to update rate
+		_lp[i] = _lp[i] * 0.99f + 0.01f * val[i];
+
+		_value[i] = val[i];
+	}
+
+	_time_last = timestamp;
+}
+
+float DataValidator::confidence(uint64_t timestamp)
+{
+
+	float ret = 1.0f;
+
+	/* check if we have any data */
+	if (_time_last == 0) {
+		_error_mask |= ERROR_FLAG_NO_DATA;
+		ret = 0.0f;
+
+	} else if (timestamp - _time_last > _timeout_interval) {
+		/* timed out - that's it */
+		_error_mask |= ERROR_FLAG_TIMEOUT;
+		ret = 0.0f;
+
+	} else if (_value_equal_count > _value_equal_count_threshold) {
+		/* we got the exact same sensor value N times in a row */
+		_error_mask |= ERROR_FLAG_STALE_DATA;
+		ret = 0.0f;
+
+	} else if (_error_count > NORETURN_ERRCOUNT) {
+		/* check error count limit */
+		_error_mask |= ERROR_FLAG_HIGH_ERRCOUNT;
+		ret = 0.0f;
+
+	} else if (_error_density > ERROR_DENSITY_WINDOW) {
+		/* cap error density counter at window size */
+		_error_mask |= ERROR_FLAG_HIGH_ERRDENSITY;
+		_error_density = ERROR_DENSITY_WINDOW;
+	}
+
+	/* no critical errors */
+	if (ret > 0.0f) {
+		/* return local error density for last N measurements */
+		ret = 1.0f - (_error_density / ERROR_DENSITY_WINDOW);
+
+		if (ret > 0.0f) {
+			_error_mask = ERROR_FLAG_NO_ERROR;
+		}
+	}
+
+	return ret;
+}
+
+void DataValidator::print()
+{
+	if (_time_last == 0) {
+		PX4_INFO("\tno data");
+		return;
+	}
+
+	for (unsigned i = 0; i < dimensions; i++) {
+		PX4_INFO("\tval: %8.4f, lp: %8.4f mean dev: %8.4f RMS: %8.4f conf: %8.4f", (double)_value[i],
+			 (double)_lp[i], (double)_mean[i], (double)_rms[i], (double)confidence(hrt_absolute_time()));
+	}
+}