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c212975abe
The failsafe from rng height to baro height should occur after a reset to baro triggered by the controlHeightSensorTimeouts function and not in the fusion selector. Until now, the EKF was fusing baro measurements between rng updates if the range finder ODR was slower than the EKF update rate. This is not the case anymore as the height reset occurs after 5 seconds. The unit test has been extended to show this behavior.
83 lines
2.5 KiB
C++
83 lines
2.5 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020 Estimation and Control Library (ECL). 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 ECL 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 Sensor.hpp
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* Abstract class for sensors
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*
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* @author Mathieu Bresciani <brescianimathieu@gmail.com>
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*
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*/
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#pragma once
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#include "common.h"
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namespace estimator
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{
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namespace sensor
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{
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class Sensor
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{
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public:
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virtual ~Sensor() {};
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/*
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* run sanity checks on the current data
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* this has to be called immediately after
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* setting new data
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*/
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virtual void runChecks(){};
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/*
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* return true if the sensor is healthy
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*/
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virtual bool isHealthy() const = 0;
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/*
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* return true if the delayed sample is healthy
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* and can be fused in the estimator
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*/
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virtual bool isDataHealthy() const = 0;
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/*
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* return true if the sensor data rate is
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* stable and high enough
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*/
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virtual bool isRegularlySendingData() const = 0;
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};
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} // namespace sensor
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} // namespace estimator
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