new library for atmosphere calculations

Signed-off-by: RomanBapst <bapstroman@gmail.com>

src/lib/atmosphere/CMakeLists.txt

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+############################################################################
+#
+#   Copyright (c) 2023 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.
+#
+############################################################################
+
+px4_add_library(atmosphere
+        atmosphere.cpp
+        )
+px4_add_unit_gtest(SRC test_atmosphere.cpp LINKLIBS atmosphere)

src/lib/atmosphere/atmosphere.cpp

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+/****************************************************************************
+ *
+ *   Copyright (C) 2023 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 atmosphere.cpp
+ *
+ */
+
+#include <geo/geo.h>
+#include "atmosphere.h"
+namespace atmosphere
+{
+
+static constexpr float kTempRefKelvin = 15.f - CONSTANTS_ABSOLUTE_NULL_CELSIUS; // temperature at base height in Kelvin
+static constexpr float kTempGradient = -6.5f / 1000.f; // temperature gradient in degrees per meter
+static constexpr float kPressRefSeaLevelPa = 101325.f; // pressure at sea level in Pa
+
+float getDensityFromPressureAndTemp(const float pressure_pa, const float temperature_celsius)
+{
+	return (pressure_pa / (CONSTANTS_AIR_GAS_CONST * (temperature_celsius - CONSTANTS_ABSOLUTE_NULL_CELSIUS)));
+}
+float getPressureFromAltitude(const float altitude_m)
+{
+
+	return kPressRefSeaLevelPa * powf((altitude_m * kTempGradient + kTempRefKelvin) / kTempRefKelvin,
+					  -CONSTANTS_ONE_G / (kTempGradient * CONSTANTS_AIR_GAS_CONST));
+}
+float getAltitudeFromPressure(float pressure_pa, float pressure_sealevel_pa)
+{
+	// calculate altitude using the hypsometric equation
+
+	const float pressure_ratio = pressure_pa / pressure_sealevel_pa;
+
+	/*
+	 * Solve:
+	 *
+	 *     /        -(aR / g)     \
+	 *    | (p / p1)          . T1 | - T1
+	 *     \                      /
+	 * h = -------------------------------  + h1
+	 *                   a
+	 */
+	return (((powf(pressure_ratio, (-(kTempGradient * CONSTANTS_AIR_GAS_CONST) / CONSTANTS_ONE_G))) * kTempRefKelvin) -
+		kTempRefKelvin) / kTempGradient;
+
+}
+float getStandardTemperatureAtAltitude(float altitude_m)
+{
+	return 15.0f + kTempGradient * altitude_m;
+}
+}

src/lib/atmosphere/atmosphere.h

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+/****************************************************************************
+ *
+ *   Copyright (c) 2023 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 atmosphere.h
+ *
+ */
+
+#ifndef PX4_SRC_LIB_ATMOSPHERE_ATMOSPHERE_H_
+#define PX4_SRC_LIB_ATMOSPHERE_ATMOSPHERE_H_
+
+namespace atmosphere
+{
+
+// NOTE: We are currently only modelling the first layer of the US Standard Atmosphere 1976.
+// This means that the functions are only valid up to an altitude of 11km.
+
+/**
+* Calculate air density given air pressure and temperature.
+*
+* @param pressure_pa ambient pressure in Pa
+* @param temperature_celsius ambient temperature in degrees Celsius
+*/
+float getDensityFromPressureAndTemp(const float pressure_pa, const float temperature_celsius);
+
+/**
+* Calculate standard airpressure given altitude.
+*
+* @param altitude_m altitude above MSL in meters in the standard atmosphere
+*/
+float getPressureFromAltitude(const float altitude_m);
+
+/**
+* Calculate altitude from air pressure and temperature.
+*
+* @param pressure_pa ambient pressure in Pa
+* @param pressure_sealevel_pa sea level pressure in Pa
+*/
+float getAltitudeFromPressure(float pressure_pa, float pressure_sealevel_pa);
+
+/**
+* Get standard temperature at altitude.
+*
+* @param altitude_m Altitude msl in meters
+* @return Standard temperature in degrees Celsius
+*/
+float getStandardTemperatureAtAltitude(float altitude_m);
+}
+
+#endif //PX4_SRC_LIB_ATMOSPHERE_ATMOSPHERE_H_

src/lib/atmosphere/test_atmosphere.cpp

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+/****************************************************************************
+ *
+ *   Copyright (C) 2023 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.
+ *
+ ****************************************************************************/
+
+/**
+ * To run this test only use: make tests TESTFILTER=atmosphere
+ */
+
+#include <gtest/gtest.h>
+#include <lib/atmosphere/atmosphere.h>
+using namespace atmosphere;
+
+TEST(TestAtmosphere, pressureFromAltitude)
+{
+	// GIVEN pressure at seal level in standard atmosphere and sea level altitude
+	const float pressureAtSeaLevel = 101325.f; // Pa
+	float altitude = 0.0f;
+
+	// WHEN we calculate pressure based on altitude
+	float pressure = getPressureFromAltitude(altitude);
+
+	// THEN expect seal level pressure for standard atmosphere
+	EXPECT_FLOAT_EQ(pressure, pressureAtSeaLevel);
+
+	// WHEN we are at 3000m altitude
+	altitude = 3000.0f;
+	pressure = getPressureFromAltitude(altitude);
+
+	// THEN expect standard atmosphere pressure at 3000m (error of 10Pa corresponds to 1m altitude error in standard atmosphere when altitude is between 1000 and 2000m)
+	EXPECT_NEAR(pressure, 70120.f, 10.0f);
+}
+
+TEST(TestAtmosphere, altitudeFromPressure)
+{
+	// GIVEN pressure at seal level in standard atmosphere
+	const float pressureAtSealevel = 101325.f;
+	float pressure = pressureAtSealevel;
+
+	// WHEN we calculate altitude from pressure
+	float altitude = getAltitudeFromPressure(pressure, pressureAtSealevel);
+
+	// THEN expect resulting altitude to be near sea level
+	EXPECT_FLOAT_EQ(altitude, 0.0f);
+
+	// GIVEN  pressure is standard atmosphere pressure at 3000m
+	pressure = 70109.f;
+
+	// WHEN we calculate altitude from pressure
+	altitude = getAltitudeFromPressure(pressure, pressureAtSealevel);
+
+	// THEN expect altitude to be near 3000m
+	EXPECT_NEAR(altitude, 3000.0f, 0.5f);
+}
+
+TEST(TestAtmosphere, DensityFromPressure)
+{
+// GIVEN standard atmosphere at sea level
+	const float pressureAtSealevel = 101325.f;
+	const float tempSeaLevel = 15.f;
+
+	// WHEN we calculate density from pressure and temperature
+	float density = getDensityFromPressureAndTemp(pressureAtSealevel, tempSeaLevel);
+
+	// THEN expect density at sea level in standard atmosphere
+	EXPECT_NEAR(density, 1.225f, 0.001f);
+
+	// GIVEN standard atmosphere at 3000m
+	const float pressure = 70109.f;
+	const float tempAt3000m = -4.5f;
+
+	// WHEN we calculate density from pressure and temperature
+	density = getDensityFromPressureAndTemp(pressure, tempAt3000m);
+
+	// THEN expect density at 3000m in standard atmosphere
+	EXPECT_NEAR(density, 0.9091f, 0.001f);
+}
+
+TEST(TestAtmosphere, StandardTemperature)
+{
+	// GIVEN standard atmosphere at sea level
+	float altitude = 0.f;
+
+	// WHEN we calculate standard temperature from altitude
+	float temperature = getStandardTemperatureAtAltitude(altitude);
+
+	// THEN expect standard temperature at sea level
+	EXPECT_NEAR(temperature, 15.f, 0.001f);
+
+	// GIVEN standard atmosphere at 3000m
+	altitude = 3000.f;
+
+	// WHEN we calculate standard temperature from altitude
+	temperature = getStandardTemperatureAtAltitude(altitude);
+
+	// THEN expect standard temperature at 3000m
+	EXPECT_NEAR(temperature, -4.5f, 0.001f);
+}