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80 lines
3.1 KiB
C++
80 lines
3.1 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2022 PX4. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file range_finder_consistency_check.hpp
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* @brief Compute statistical tests of the range finder data
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* using the estimated velocity as a reference in order to detect sensor faults
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*/
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#pragma once
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#include <mathlib/math/filter/AlphaFilter.hpp>
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class RangeFinderConsistencyCheck final
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{
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public:
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RangeFinderConsistencyCheck() = default;
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~RangeFinderConsistencyCheck() = default;
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void update(float dist_bottom, float dist_bottom_var, float vz, float vz_var, uint64_t time_us);
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void setGate(float gate) { _gate = gate; }
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float getTestRatio() const { return _test_ratio; }
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float getSignedTestRatioLpf() const { return _signed_test_ratio_lpf.getState(); }
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float getInnov() const { return _innov; }
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float getInnovVar() const { return _innov_var; }
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bool isKinematicallyConsistent() const { return _is_kinematically_consistent; }
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private:
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void updateConsistency(float vz, uint64_t time_us);
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uint64_t _time_last_update_us{};
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float _dist_bottom_prev{};
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float _test_ratio{};
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AlphaFilter<float> _signed_test_ratio_lpf{}; // average signed test ratio used to detect a bias in the data
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float _gate{.2f};
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float _innov{};
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float _innov_var{};
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bool _is_kinematically_consistent{true};
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uint64_t _time_last_inconsistent_us{};
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static constexpr float _signed_test_ratio_tau = 2.f;
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static constexpr float _min_vz_for_valid_consistency = .5f;
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static constexpr uint64_t _consistency_hyst_time_us = 1e6;
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};
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