mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-31 10:26:52 +08:00
move ecl L1, TECS, and data validator to PX4/Firmware
This commit is contained in:
Daniel Agar
@@ -48,8 +48,10 @@ add_subdirectory(drivers)
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add_subdirectory(ecl)
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add_subdirectory(ecl)
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add_subdirectory(flight_tasks)
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add_subdirectory(flight_tasks)
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add_subdirectory(hysteresis)
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add_subdirectory(hysteresis)
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add_subdirectory(l1)
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||||||
add_subdirectory(landing_slope)
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add_subdirectory(landing_slope)
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add_subdirectory(led)
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add_subdirectory(led)
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||||||
|
add_subdirectory(mag_compensation)
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add_subdirectory(mathlib)
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add_subdirectory(mathlib)
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add_subdirectory(mixer)
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add_subdirectory(mixer)
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add_subdirectory(mixer_module)
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add_subdirectory(mixer_module)
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@@ -58,8 +60,8 @@ add_subdirectory(perf)
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add_subdirectory(pid)
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add_subdirectory(pid)
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add_subdirectory(rc)
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add_subdirectory(rc)
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add_subdirectory(systemlib)
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add_subdirectory(systemlib)
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add_subdirectory(tecs)
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add_subdirectory(terrain_estimation)
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add_subdirectory(terrain_estimation)
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add_subdirectory(tunes)
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add_subdirectory(tunes)
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add_subdirectory(version)
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add_subdirectory(version)
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add_subdirectory(weather_vane)
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add_subdirectory(weather_vane)
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add_subdirectory(mag_compensation)
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+1
-1
Submodule src/lib/ecl updated: a296fe7d8c...a8bb8ea99f
@@ -0,0 +1,40 @@
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############################################################################
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#
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# Copyright (c) 2018-2020 PX4 Development Team. All rights reserved.
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#
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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
|
||||||
|
# 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.
|
||||||
|
#
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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
|
||||||
|
# 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.
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||||||
|
#
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||||||
|
############################################################################
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||||||
|
px4_add_library(l1
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ECL_L1_Pos_Controller.cpp
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ECL_L1_Pos_Controller.hpp
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||||||
|
)
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||||||
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||||||
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add_dependencies(l1 git_ecl)
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target_link_libraries(l1 PRIVATE ecl_geo)
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@@ -0,0 +1,388 @@
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|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* Copyright (c) 2013-2020 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.
|
||||||
|
*
|
||||||
|
****************************************************************************/
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||||||
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||||||
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/**
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||||||
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* @file ECL_L1_Pos_Controller.cpp
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||||||
|
* Implementation of L1 position control.
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||||||
|
* Authors and acknowledgements in header.
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||||||
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*
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||||||
|
*/
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||||||
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||||||
|
#include "ECL_L1_Pos_Controller.hpp"
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#include <lib/ecl/geo/geo.h>
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#include <px4_platform_common/defines.h>
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#include <float.h>
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using matrix::Vector2f;
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using matrix::wrap_pi;
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void ECL_L1_Pos_Controller::update_roll_setpoint()
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{
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float roll_new = atanf(_lateral_accel * 1.0f / CONSTANTS_ONE_G);
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roll_new = math::constrain(roll_new, -_roll_lim_rad, _roll_lim_rad);
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||||||
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||||||
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if (_dt > 0.0f && _roll_slew_rate > 0.0f) {
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// slew rate limiting active
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roll_new = math::constrain(roll_new, _roll_setpoint - _roll_slew_rate * _dt, _roll_setpoint + _roll_slew_rate * _dt);
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||||||
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}
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||||||
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||||||
|
if (PX4_ISFINITE(roll_new)) {
|
||||||
|
_roll_setpoint = roll_new;
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||||||
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}
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||||||
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||||||
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}
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||||||
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||||||
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float ECL_L1_Pos_Controller::switch_distance(float wp_radius)
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||||||
|
{
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||||||
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/* following [2], switching on L1 distance */
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return math::min(wp_radius, _L1_distance);
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||||||
|
}
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||||||
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|
||||||
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void
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||||||
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ECL_L1_Pos_Controller::navigate_waypoints(const Vector2f &vector_A, const Vector2f &vector_B,
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|
const Vector2f &vector_curr_position, const Vector2f &ground_speed_vector)
|
||||||
|
{
|
||||||
|
/* this follows the logic presented in [1] */
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||||||
|
float eta = 0.0f;
|
||||||
|
float xtrack_vel = 0.0f;
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||||||
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float ltrack_vel = 0.0f;
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/* get the direction between the last (visited) and next waypoint */
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_target_bearing = get_bearing_to_next_waypoint((double)vector_curr_position(0), (double)vector_curr_position(1),
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(double)vector_B(0), (double)vector_B(1));
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/* enforce a minimum ground speed of 0.1 m/s to avoid singularities */
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float ground_speed = math::max(ground_speed_vector.length(), 0.1f);
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/* calculate the L1 length required for the desired period */
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_L1_distance = _L1_ratio * ground_speed;
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/* calculate vector from A to B */
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Vector2f vector_AB = get_local_planar_vector(vector_A, vector_B);
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/*
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* check if waypoints are on top of each other. If yes,
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* skip A and directly continue to B
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*/
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if (vector_AB.length() < 1.0e-6f) {
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vector_AB = get_local_planar_vector(vector_curr_position, vector_B);
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}
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vector_AB.normalize();
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/* calculate the vector from waypoint A to the aircraft */
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Vector2f vector_A_to_airplane = get_local_planar_vector(vector_A, vector_curr_position);
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/* calculate crosstrack error (output only) */
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_crosstrack_error = vector_AB % vector_A_to_airplane;
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/*
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* If the current position is in a +-135 degree angle behind waypoint A
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* and further away from A than the L1 distance, then A becomes the L1 point.
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* If the aircraft is already between A and B normal L1 logic is applied.
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*/
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float distance_A_to_airplane = vector_A_to_airplane.length();
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float alongTrackDist = vector_A_to_airplane * vector_AB;
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/* estimate airplane position WRT to B */
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Vector2f vector_B_to_P_unit = get_local_planar_vector(vector_B, vector_curr_position).normalized();
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/* calculate angle of airplane position vector relative to line) */
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// XXX this could probably also be based solely on the dot product
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float AB_to_BP_bearing = atan2f(vector_B_to_P_unit % vector_AB, vector_B_to_P_unit * vector_AB);
|
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|
||||||
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/* extension from [2], fly directly to A */
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if (distance_A_to_airplane > _L1_distance && alongTrackDist / math::max(distance_A_to_airplane, 1.0f) < -0.7071f) {
|
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|
||||||
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/* calculate eta to fly to waypoint A */
|
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|
||||||
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/* unit vector from waypoint A to current position */
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Vector2f vector_A_to_airplane_unit = vector_A_to_airplane.normalized();
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/* velocity across / orthogonal to line */
|
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xtrack_vel = ground_speed_vector % (-vector_A_to_airplane_unit);
|
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|
/* velocity along line */
|
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ltrack_vel = ground_speed_vector * (-vector_A_to_airplane_unit);
|
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|
eta = atan2f(xtrack_vel, ltrack_vel);
|
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|
/* bearing from current position to L1 point */
|
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|
_nav_bearing = atan2f(-vector_A_to_airplane_unit(1), -vector_A_to_airplane_unit(0));
|
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|
|
||||||
|
/*
|
||||||
|
* If the AB vector and the vector from B to airplane point in the same
|
||||||
|
* direction, we have missed the waypoint. At +- 90 degrees we are just passing it.
|
||||||
|
*/
|
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|
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|
} else if (fabsf(AB_to_BP_bearing) < math::radians(100.0f)) {
|
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|
/*
|
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|
* Extension, fly back to waypoint.
|
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|
*
|
||||||
|
* This corner case is possible if the system was following
|
||||||
|
* the AB line from waypoint A to waypoint B, then is
|
||||||
|
* switched to manual mode (or otherwise misses the waypoint)
|
||||||
|
* and behind the waypoint continues to follow the AB line.
|
||||||
|
*/
|
||||||
|
|
||||||
|
/* calculate eta to fly to waypoint B */
|
||||||
|
|
||||||
|
/* velocity across / orthogonal to line */
|
||||||
|
xtrack_vel = ground_speed_vector % (-vector_B_to_P_unit);
|
||||||
|
/* velocity along line */
|
||||||
|
ltrack_vel = ground_speed_vector * (-vector_B_to_P_unit);
|
||||||
|
eta = atan2f(xtrack_vel, ltrack_vel);
|
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|
/* bearing from current position to L1 point */
|
||||||
|
_nav_bearing = atan2f(-vector_B_to_P_unit(1), -vector_B_to_P_unit(0));
|
||||||
|
|
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|
} else {
|
||||||
|
|
||||||
|
/* calculate eta to fly along the line between A and B */
|
||||||
|
|
||||||
|
/* velocity across / orthogonal to line */
|
||||||
|
xtrack_vel = ground_speed_vector % vector_AB;
|
||||||
|
/* velocity along line */
|
||||||
|
ltrack_vel = ground_speed_vector * vector_AB;
|
||||||
|
/* calculate eta2 (angle of velocity vector relative to line) */
|
||||||
|
float eta2 = atan2f(xtrack_vel, ltrack_vel);
|
||||||
|
/* calculate eta1 (angle to L1 point) */
|
||||||
|
float xtrackErr = vector_A_to_airplane % vector_AB;
|
||||||
|
float sine_eta1 = xtrackErr / math::max(_L1_distance, 0.1f);
|
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|
/* limit output to 45 degrees */
|
||||||
|
sine_eta1 = math::constrain(sine_eta1, -0.7071f, 0.7071f); //sin(pi/4) = 0.7071
|
||||||
|
float eta1 = asinf(sine_eta1);
|
||||||
|
eta = eta1 + eta2;
|
||||||
|
/* bearing from current position to L1 point */
|
||||||
|
_nav_bearing = atan2f(vector_AB(1), vector_AB(0)) + eta1;
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
/* limit angle to +-90 degrees */
|
||||||
|
eta = math::constrain(eta, (-M_PI_F) / 2.0f, +M_PI_F / 2.0f);
|
||||||
|
_lateral_accel = _K_L1 * ground_speed * ground_speed / _L1_distance * sinf(eta);
|
||||||
|
|
||||||
|
/* flying to waypoints, not circling them */
|
||||||
|
_circle_mode = false;
|
||||||
|
|
||||||
|
/* the bearing angle, in NED frame */
|
||||||
|
_bearing_error = eta;
|
||||||
|
|
||||||
|
update_roll_setpoint();
|
||||||
|
}
|
||||||
|
|
||||||
|
void
|
||||||
|
ECL_L1_Pos_Controller::navigate_loiter(const Vector2f &vector_A, const Vector2f &vector_curr_position, float radius,
|
||||||
|
int8_t loiter_direction, const Vector2f &ground_speed_vector)
|
||||||
|
{
|
||||||
|
/* the complete guidance logic in this section was proposed by [2] */
|
||||||
|
|
||||||
|
/* calculate the gains for the PD loop (circle tracking) */
|
||||||
|
float omega = (2.0f * M_PI_F / _L1_period);
|
||||||
|
float K_crosstrack = omega * omega;
|
||||||
|
float K_velocity = 2.0f * _L1_damping * omega;
|
||||||
|
|
||||||
|
/* update bearing to next waypoint */
|
||||||
|
_target_bearing = get_bearing_to_next_waypoint((double)vector_curr_position(0), (double)vector_curr_position(1),
|
||||||
|
(double)vector_A(0), (double)vector_A(1));
|
||||||
|
|
||||||
|
/* ground speed, enforce minimum of 0.1 m/s to avoid singularities */
|
||||||
|
float ground_speed = math::max(ground_speed_vector.length(), 0.1f);
|
||||||
|
|
||||||
|
/* calculate the L1 length required for the desired period */
|
||||||
|
_L1_distance = _L1_ratio * ground_speed;
|
||||||
|
|
||||||
|
/* calculate the vector from waypoint A to current position */
|
||||||
|
Vector2f vector_A_to_airplane = get_local_planar_vector(vector_A, vector_curr_position);
|
||||||
|
|
||||||
|
Vector2f vector_A_to_airplane_unit;
|
||||||
|
|
||||||
|
/* prevent NaN when normalizing */
|
||||||
|
if (vector_A_to_airplane.length() > FLT_EPSILON) {
|
||||||
|
/* store the normalized vector from waypoint A to current position */
|
||||||
|
vector_A_to_airplane_unit = vector_A_to_airplane.normalized();
|
||||||
|
|
||||||
|
} else {
|
||||||
|
vector_A_to_airplane_unit = vector_A_to_airplane;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* calculate eta angle towards the loiter center */
|
||||||
|
|
||||||
|
/* velocity across / orthogonal to line from waypoint to current position */
|
||||||
|
float xtrack_vel_center = vector_A_to_airplane_unit % ground_speed_vector;
|
||||||
|
/* velocity along line from waypoint to current position */
|
||||||
|
float ltrack_vel_center = - (ground_speed_vector * vector_A_to_airplane_unit);
|
||||||
|
float eta = atan2f(xtrack_vel_center, ltrack_vel_center);
|
||||||
|
/* limit eta to 90 degrees */
|
||||||
|
eta = math::constrain(eta, -M_PI_F / 2.0f, +M_PI_F / 2.0f);
|
||||||
|
|
||||||
|
/* calculate the lateral acceleration to capture the center point */
|
||||||
|
float lateral_accel_sp_center = _K_L1 * ground_speed * ground_speed / _L1_distance * sinf(eta);
|
||||||
|
|
||||||
|
/* for PD control: Calculate radial position and velocity errors */
|
||||||
|
|
||||||
|
/* radial velocity error */
|
||||||
|
float xtrack_vel_circle = -ltrack_vel_center;
|
||||||
|
/* radial distance from the loiter circle (not center) */
|
||||||
|
float xtrack_err_circle = vector_A_to_airplane.length() - radius;
|
||||||
|
|
||||||
|
/* cross track error for feedback */
|
||||||
|
_crosstrack_error = xtrack_err_circle;
|
||||||
|
|
||||||
|
/* calculate PD update to circle waypoint */
|
||||||
|
float lateral_accel_sp_circle_pd = (xtrack_err_circle * K_crosstrack + xtrack_vel_circle * K_velocity);
|
||||||
|
|
||||||
|
/* calculate velocity on circle / along tangent */
|
||||||
|
float tangent_vel = xtrack_vel_center * loiter_direction;
|
||||||
|
|
||||||
|
/* prevent PD output from turning the wrong way */
|
||||||
|
if (tangent_vel < 0.0f) {
|
||||||
|
lateral_accel_sp_circle_pd = math::max(lateral_accel_sp_circle_pd, 0.0f);
|
||||||
|
}
|
||||||
|
|
||||||
|
/* calculate centripetal acceleration setpoint */
|
||||||
|
float lateral_accel_sp_circle_centripetal = tangent_vel * tangent_vel / math::max((0.5f * radius),
|
||||||
|
(radius + xtrack_err_circle));
|
||||||
|
|
||||||
|
/* add PD control on circle and centripetal acceleration for total circle command */
|
||||||
|
float lateral_accel_sp_circle = loiter_direction * (lateral_accel_sp_circle_pd + lateral_accel_sp_circle_centripetal);
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Switch between circle (loiter) and capture (towards waypoint center) mode when
|
||||||
|
* the commands switch over. Only fly towards waypoint if outside the circle.
|
||||||
|
*/
|
||||||
|
|
||||||
|
// XXX check switch over
|
||||||
|
if ((lateral_accel_sp_center < lateral_accel_sp_circle && loiter_direction > 0 && xtrack_err_circle > 0.0f) ||
|
||||||
|
(lateral_accel_sp_center > lateral_accel_sp_circle && loiter_direction < 0 && xtrack_err_circle > 0.0f)) {
|
||||||
|
_lateral_accel = lateral_accel_sp_center;
|
||||||
|
_circle_mode = false;
|
||||||
|
/* angle between requested and current velocity vector */
|
||||||
|
_bearing_error = eta;
|
||||||
|
/* bearing from current position to L1 point */
|
||||||
|
_nav_bearing = atan2f(-vector_A_to_airplane_unit(1), -vector_A_to_airplane_unit(0));
|
||||||
|
|
||||||
|
} else {
|
||||||
|
_lateral_accel = lateral_accel_sp_circle;
|
||||||
|
_circle_mode = true;
|
||||||
|
_bearing_error = 0.0f;
|
||||||
|
/* bearing from current position to L1 point */
|
||||||
|
_nav_bearing = atan2f(-vector_A_to_airplane_unit(1), -vector_A_to_airplane_unit(0));
|
||||||
|
}
|
||||||
|
|
||||||
|
update_roll_setpoint();
|
||||||
|
}
|
||||||
|
|
||||||
|
void ECL_L1_Pos_Controller::navigate_heading(float navigation_heading, float current_heading,
|
||||||
|
const Vector2f &ground_speed_vector)
|
||||||
|
{
|
||||||
|
/* the complete guidance logic in this section was proposed by [2] */
|
||||||
|
|
||||||
|
/*
|
||||||
|
* As the commanded heading is the only reference
|
||||||
|
* (and no crosstrack correction occurs),
|
||||||
|
* target and navigation bearing become the same
|
||||||
|
*/
|
||||||
|
_target_bearing = _nav_bearing = wrap_pi(navigation_heading);
|
||||||
|
|
||||||
|
float eta = wrap_pi(_target_bearing - wrap_pi(current_heading));
|
||||||
|
|
||||||
|
/* consequently the bearing error is exactly eta: */
|
||||||
|
_bearing_error = eta;
|
||||||
|
|
||||||
|
/* ground speed is the length of the ground speed vector */
|
||||||
|
float ground_speed = ground_speed_vector.length();
|
||||||
|
|
||||||
|
/* adjust L1 distance to keep constant frequency */
|
||||||
|
_L1_distance = ground_speed / _heading_omega;
|
||||||
|
float omega_vel = ground_speed * _heading_omega;
|
||||||
|
|
||||||
|
/* not circling a waypoint */
|
||||||
|
_circle_mode = false;
|
||||||
|
|
||||||
|
/* navigating heading means by definition no crosstrack error */
|
||||||
|
_crosstrack_error = 0;
|
||||||
|
|
||||||
|
/* limit eta to 90 degrees */
|
||||||
|
eta = math::constrain(eta, (-M_PI_F) / 2.0f, +M_PI_F / 2.0f);
|
||||||
|
_lateral_accel = 2.0f * sinf(eta) * omega_vel;
|
||||||
|
|
||||||
|
update_roll_setpoint();
|
||||||
|
}
|
||||||
|
|
||||||
|
void ECL_L1_Pos_Controller::navigate_level_flight(float current_heading)
|
||||||
|
{
|
||||||
|
/* the logic in this section is trivial, but originally proposed by [2] */
|
||||||
|
|
||||||
|
/* reset all heading / error measures resulting in zero roll */
|
||||||
|
_target_bearing = current_heading;
|
||||||
|
_nav_bearing = current_heading;
|
||||||
|
_bearing_error = 0;
|
||||||
|
_crosstrack_error = 0;
|
||||||
|
_lateral_accel = 0;
|
||||||
|
|
||||||
|
/* not circling a waypoint when flying level */
|
||||||
|
_circle_mode = false;
|
||||||
|
|
||||||
|
update_roll_setpoint();
|
||||||
|
}
|
||||||
|
|
||||||
|
Vector2f ECL_L1_Pos_Controller::get_local_planar_vector(const Vector2f &origin, const Vector2f &target) const
|
||||||
|
{
|
||||||
|
/* this is an approximation for small angles, proposed by [2] */
|
||||||
|
Vector2f out(math::radians((target(0) - origin(0))),
|
||||||
|
math::radians((target(1) - origin(1))*cosf(math::radians(origin(0)))));
|
||||||
|
|
||||||
|
return out * static_cast<float>(CONSTANTS_RADIUS_OF_EARTH);
|
||||||
|
}
|
||||||
|
|
||||||
|
void ECL_L1_Pos_Controller::set_l1_period(float period)
|
||||||
|
{
|
||||||
|
_L1_period = period;
|
||||||
|
|
||||||
|
/* calculate the ratio introduced in [2] */
|
||||||
|
_L1_ratio = 1.0f / M_PI_F * _L1_damping * _L1_period;
|
||||||
|
|
||||||
|
/* calculate normalized frequency for heading tracking */
|
||||||
|
_heading_omega = sqrtf(2.0f) * M_PI_F / _L1_period;
|
||||||
|
}
|
||||||
|
|
||||||
|
void ECL_L1_Pos_Controller::set_l1_damping(float damping)
|
||||||
|
{
|
||||||
|
_L1_damping = damping;
|
||||||
|
|
||||||
|
/* calculate the ratio introduced in [2] */
|
||||||
|
_L1_ratio = 1.0f / M_PI_F * _L1_damping * _L1_period;
|
||||||
|
|
||||||
|
/* calculate the L1 gain (following [2]) */
|
||||||
|
_K_L1 = 4.0f * _L1_damping * _L1_damping;
|
||||||
|
}
|
||||||
@@ -0,0 +1,249 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* Copyright (c) 2013-2020 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 ecl_l1_pos_control.h
|
||||||
|
* Implementation of L1 position control.
|
||||||
|
*
|
||||||
|
*
|
||||||
|
* Acknowledgements and References:
|
||||||
|
*
|
||||||
|
* This implementation has been built for PX4 based on the original
|
||||||
|
* publication from [1] and does include a lot of the ideas (not code)
|
||||||
|
* from [2].
|
||||||
|
*
|
||||||
|
*
|
||||||
|
* [1] S. Park, J. Deyst, and J. P. How, "A New Nonlinear Guidance Logic for Trajectory Tracking,"
|
||||||
|
* Proceedings of the AIAA Guidance, Navigation and Control
|
||||||
|
* Conference, Aug 2004. AIAA-2004-4900.
|
||||||
|
*
|
||||||
|
* [2] Paul Riseborough, Brandon Jones and Andrew Tridgell, L1 control for APM. Aug 2013.
|
||||||
|
* - Explicit control over frequency and damping
|
||||||
|
* - Explicit control over track capture angle
|
||||||
|
* - Ability to use loiter radius smaller than L1 length
|
||||||
|
* - Modified to use PD control for circle tracking to enable loiter radius less than L1 length
|
||||||
|
* - Modified to enable period and damping of guidance loop to be set explicitly
|
||||||
|
* - Modified to provide explicit control over capture angle
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef ECL_L1_POS_CONTROLLER_H
|
||||||
|
#define ECL_L1_POS_CONTROLLER_H
|
||||||
|
|
||||||
|
#include <matrix/math.hpp>
|
||||||
|
#include <lib/mathlib/mathlib.h>
|
||||||
|
|
||||||
|
/**
|
||||||
|
* L1 Nonlinear Guidance Logic
|
||||||
|
*/
|
||||||
|
class ECL_L1_Pos_Controller
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
/**
|
||||||
|
* The current target bearing
|
||||||
|
*
|
||||||
|
* @return bearing angle (-pi..pi, in NED frame)
|
||||||
|
*/
|
||||||
|
float nav_bearing() { return matrix::wrap_pi(_nav_bearing); }
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Get lateral acceleration demand.
|
||||||
|
*
|
||||||
|
* @return Lateral acceleration in m/s^2
|
||||||
|
*/
|
||||||
|
float nav_lateral_acceleration_demand() { return _lateral_accel; }
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Heading error.
|
||||||
|
*
|
||||||
|
* The heading error is either compared to the current track
|
||||||
|
* or to the tangent of the current loiter radius.
|
||||||
|
*/
|
||||||
|
float bearing_error() { return _bearing_error; }
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Bearing from aircraft to current target.
|
||||||
|
*
|
||||||
|
* @return bearing angle (-pi..pi, in NED frame)
|
||||||
|
*/
|
||||||
|
float target_bearing() { return _target_bearing; }
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Get roll angle setpoint for fixed wing.
|
||||||
|
*
|
||||||
|
* @return Roll angle (in NED frame)
|
||||||
|
*/
|
||||||
|
float get_roll_setpoint() { return _roll_setpoint; }
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Get the current crosstrack error.
|
||||||
|
*
|
||||||
|
* @return Crosstrack error in meters.
|
||||||
|
*/
|
||||||
|
float crosstrack_error() { return _crosstrack_error; }
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Returns true if the loiter waypoint has been reached
|
||||||
|
*/
|
||||||
|
bool reached_loiter_target() { return _circle_mode; }
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Returns true if following a circle (loiter)
|
||||||
|
*/
|
||||||
|
bool circle_mode() { return _circle_mode; }
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Get the switch distance
|
||||||
|
*
|
||||||
|
* This is the distance at which the system will
|
||||||
|
* switch to the next waypoint. This depends on the
|
||||||
|
* period and damping
|
||||||
|
*
|
||||||
|
* @param waypoint_switch_radius The switching radius the waypoint has set.
|
||||||
|
*/
|
||||||
|
float switch_distance(float waypoint_switch_radius);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Navigate between two waypoints
|
||||||
|
*
|
||||||
|
* Calling this function with two waypoints results in the
|
||||||
|
* control outputs to fly to the line segment defined by
|
||||||
|
* the points and once captured following the line segment.
|
||||||
|
* This follows the logic in [1].
|
||||||
|
*
|
||||||
|
* @return sets _lateral_accel setpoint
|
||||||
|
*/
|
||||||
|
void navigate_waypoints(const matrix::Vector2f &vector_A, const matrix::Vector2f &vector_B,
|
||||||
|
const matrix::Vector2f &vector_curr_position, const matrix::Vector2f &ground_speed);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Navigate on an orbit around a loiter waypoint.
|
||||||
|
*
|
||||||
|
* This allow orbits smaller than the L1 length,
|
||||||
|
* this modification was introduced in [2].
|
||||||
|
*
|
||||||
|
* @return sets _lateral_accel setpoint
|
||||||
|
*/
|
||||||
|
void navigate_loiter(const matrix::Vector2f &vector_A, const matrix::Vector2f &vector_curr_position, float radius,
|
||||||
|
int8_t loiter_direction, const matrix::Vector2f &ground_speed_vector);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Navigate on a fixed bearing.
|
||||||
|
*
|
||||||
|
* This only holds a certain direction and does not perform cross
|
||||||
|
* track correction. Helpful for semi-autonomous modes. Introduced
|
||||||
|
* by [2].
|
||||||
|
*
|
||||||
|
* @return sets _lateral_accel setpoint
|
||||||
|
*/
|
||||||
|
void navigate_heading(float navigation_heading, float current_heading, const matrix::Vector2f &ground_speed);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Keep the wings level.
|
||||||
|
*
|
||||||
|
* This is typically needed for maximum-lift-demand situations,
|
||||||
|
* such as takeoff or near stall. Introduced in [2].
|
||||||
|
*/
|
||||||
|
void navigate_level_flight(float current_heading);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Set the L1 period.
|
||||||
|
*/
|
||||||
|
void set_l1_period(float period);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Set the L1 damping factor.
|
||||||
|
*
|
||||||
|
* The original publication recommends a default of sqrt(2) / 2 = 0.707
|
||||||
|
*/
|
||||||
|
void set_l1_damping(float damping);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Set the maximum roll angle output in radians
|
||||||
|
*/
|
||||||
|
void set_l1_roll_limit(float roll_lim_rad) { _roll_lim_rad = roll_lim_rad; }
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Set roll angle slew rate. Set to zero to deactivate.
|
||||||
|
*/
|
||||||
|
void set_roll_slew_rate(float roll_slew_rate) { _roll_slew_rate = roll_slew_rate; }
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Set control loop dt. The value will be used to apply roll angle setpoint slew rate limiting.
|
||||||
|
*/
|
||||||
|
void set_dt(float dt) { _dt = dt;}
|
||||||
|
|
||||||
|
private:
|
||||||
|
|
||||||
|
float _lateral_accel{0.0f}; ///< Lateral acceleration setpoint in m/s^2
|
||||||
|
float _L1_distance{20.0f}; ///< L1 lead distance, defined by period and damping
|
||||||
|
bool _circle_mode{false}; ///< flag for loiter mode
|
||||||
|
float _nav_bearing{0.0f}; ///< bearing to L1 reference point
|
||||||
|
float _bearing_error{0.0f}; ///< bearing error
|
||||||
|
float _crosstrack_error{0.0f}; ///< crosstrack error in meters
|
||||||
|
float _target_bearing{0.0f}; ///< the heading setpoint
|
||||||
|
|
||||||
|
float _L1_period{25.0f}; ///< L1 tracking period in seconds
|
||||||
|
float _L1_damping{0.75f}; ///< L1 damping ratio
|
||||||
|
float _L1_ratio{5.0f}; ///< L1 ratio for navigation
|
||||||
|
float _K_L1{2.0f}; ///< L1 control gain for _L1_damping
|
||||||
|
float _heading_omega{1.0f}; ///< Normalized frequency
|
||||||
|
|
||||||
|
float _roll_lim_rad{math::radians(30.0f)}; ///<maximum roll angle in radians
|
||||||
|
float _roll_setpoint{0.0f}; ///< current roll angle setpoint in radians
|
||||||
|
float _roll_slew_rate{0.0f}; ///< roll angle setpoint slew rate limit in rad/s
|
||||||
|
float _dt{0}; ///< control loop time in seconds
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Convert a 2D vector from WGS84 to planar coordinates.
|
||||||
|
*
|
||||||
|
* This converts from latitude and longitude to planar
|
||||||
|
* coordinates with (0,0) being at the position of ref and
|
||||||
|
* returns a vector in meters towards wp.
|
||||||
|
*
|
||||||
|
* @param ref The reference position in WGS84 coordinates
|
||||||
|
* @param wp The point to convert to into the local coordinates, in WGS84 coordinates
|
||||||
|
* @return The vector in meters pointing from the reference position to the coordinates
|
||||||
|
*/
|
||||||
|
matrix::Vector2f get_local_planar_vector(const matrix::Vector2f &origin, const matrix::Vector2f &target) const;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Update roll angle setpoint. This will also apply slew rate limits if set.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
void update_roll_setpoint();
|
||||||
|
|
||||||
|
};
|
||||||
|
|
||||||
|
|
||||||
|
#endif /* ECL_L1_POS_CONTROLLER_H */
|
||||||
@@ -0,0 +1,40 @@
|
|||||||
|
############################################################################
|
||||||
|
#
|
||||||
|
# Copyright (c) 2018-2020 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.
|
||||||
|
#
|
||||||
|
############################################################################
|
||||||
|
|
||||||
|
px4_add_library(tecs
|
||||||
|
TECS.cpp
|
||||||
|
TECS.hpp
|
||||||
|
)
|
||||||
|
|
||||||
|
add_dependencies(tecs git_ecl)
|
||||||
|
target_link_libraries(tecs PRIVATE ecl_geo)
|
||||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,327 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* Copyright (c) 2017-2020 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 tecs.cpp
|
||||||
|
*
|
||||||
|
* @author Paul Riseborough
|
||||||
|
*/
|
||||||
|
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
#include <mathlib/mathlib.h>
|
||||||
|
#include <matrix/math.hpp>
|
||||||
|
|
||||||
|
class TECS
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
TECS() = default;
|
||||||
|
~TECS() = default;
|
||||||
|
|
||||||
|
// no copy, assignment, move, move assignment
|
||||||
|
TECS(const TECS &) = delete;
|
||||||
|
TECS &operator=(const TECS &) = delete;
|
||||||
|
TECS(TECS &&) = delete;
|
||||||
|
TECS &operator=(TECS &&) = delete;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Get the current airspeed status
|
||||||
|
*
|
||||||
|
* @return true if airspeed is enabled for control
|
||||||
|
*/
|
||||||
|
bool airspeed_sensor_enabled() { return _airspeed_enabled; }
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Set the airspeed enable state
|
||||||
|
*/
|
||||||
|
void enable_airspeed(bool enabled) { _airspeed_enabled = enabled; }
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Updates the following vehicle kineamtic state estimates:
|
||||||
|
* Vertical position, velocity and acceleration.
|
||||||
|
* Speed derivative
|
||||||
|
* Must be called prior to udating tecs control loops
|
||||||
|
* Must be called at 50Hz or greater
|
||||||
|
*/
|
||||||
|
void update_vehicle_state_estimates(float airspeed, const matrix::Dcmf &rotMat,
|
||||||
|
const matrix::Vector3f &accel_body, bool altitude_lock, bool in_air,
|
||||||
|
float altitude, float vz);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Update the control loop calculations
|
||||||
|
*/
|
||||||
|
void update_pitch_throttle(const matrix::Dcmf &rotMat, float pitch, float baro_altitude, float hgt_setpoint,
|
||||||
|
float EAS_setpoint, float indicated_airspeed, float eas_to_tas, bool climb_out_setpoint, float pitch_min_climbout,
|
||||||
|
float throttle_min, float throttle_setpoint_max, float throttle_cruise,
|
||||||
|
float pitch_limit_min, float pitch_limit_max);
|
||||||
|
|
||||||
|
float get_throttle_setpoint() { return _throttle_setpoint; }
|
||||||
|
float get_pitch_setpoint() { return _pitch_setpoint; }
|
||||||
|
float get_speed_weight() { return _pitch_speed_weight; }
|
||||||
|
|
||||||
|
void reset_state() { _states_initialized = false; }
|
||||||
|
|
||||||
|
enum ECL_TECS_MODE {
|
||||||
|
ECL_TECS_MODE_NORMAL = 0,
|
||||||
|
ECL_TECS_MODE_UNDERSPEED,
|
||||||
|
ECL_TECS_MODE_BAD_DESCENT,
|
||||||
|
ECL_TECS_MODE_CLIMBOUT
|
||||||
|
};
|
||||||
|
|
||||||
|
void set_detect_underspeed_enabled(bool enabled) { _detect_underspeed_enabled = enabled; }
|
||||||
|
|
||||||
|
// setters for controller parameters
|
||||||
|
void set_time_const(float time_const) { _pitch_time_constant = time_const; }
|
||||||
|
void set_integrator_gain(float gain) { _integrator_gain = gain; }
|
||||||
|
|
||||||
|
void set_min_sink_rate(float rate) { _min_sink_rate = rate; }
|
||||||
|
void set_max_sink_rate(float sink_rate) { _max_sink_rate = sink_rate; }
|
||||||
|
void set_max_climb_rate(float climb_rate) { _max_climb_rate = climb_rate; }
|
||||||
|
|
||||||
|
void set_heightrate_ff(float heightrate_ff) { _height_setpoint_gain_ff = heightrate_ff; }
|
||||||
|
void set_heightrate_p(float heightrate_p) { _height_error_gain = heightrate_p; }
|
||||||
|
|
||||||
|
void set_indicated_airspeed_max(float airspeed) { _indicated_airspeed_max = airspeed; }
|
||||||
|
void set_indicated_airspeed_min(float airspeed) { _indicated_airspeed_min = airspeed; }
|
||||||
|
|
||||||
|
void set_pitch_damping(float damping) { _pitch_damping_gain = damping; }
|
||||||
|
void set_vertical_accel_limit(float limit) { _vert_accel_limit = limit; }
|
||||||
|
|
||||||
|
void set_speed_comp_filter_omega(float omega) { _tas_estimate_freq = omega; }
|
||||||
|
void set_speed_weight(float weight) { _pitch_speed_weight = weight; }
|
||||||
|
void set_speedrate_p(float speedrate_p) { _speed_error_gain = speedrate_p; }
|
||||||
|
|
||||||
|
void set_time_const_throt(float time_const_throt) { _throttle_time_constant = time_const_throt; }
|
||||||
|
void set_throttle_damp(float throttle_damp) { _throttle_damping_gain = throttle_damp; }
|
||||||
|
void set_throttle_slewrate(float slewrate) { _throttle_slewrate = slewrate; }
|
||||||
|
|
||||||
|
void set_roll_throttle_compensation(float compensation) { _load_factor_correction = compensation; }
|
||||||
|
|
||||||
|
// TECS status
|
||||||
|
uint64_t timestamp() { return _pitch_update_timestamp; }
|
||||||
|
ECL_TECS_MODE tecs_mode() { return _tecs_mode; }
|
||||||
|
|
||||||
|
float hgt_setpoint_adj() { return _hgt_setpoint_adj; }
|
||||||
|
float vert_pos_state() { return _vert_pos_state; }
|
||||||
|
|
||||||
|
float TAS_setpoint_adj() { return _TAS_setpoint_adj; }
|
||||||
|
float tas_state() { return _tas_state; }
|
||||||
|
|
||||||
|
float hgt_rate_setpoint() { return _hgt_rate_setpoint; }
|
||||||
|
float vert_vel_state() { return _vert_vel_state; }
|
||||||
|
|
||||||
|
float TAS_rate_setpoint() { return _TAS_rate_setpoint; }
|
||||||
|
float speed_derivative() { return _speed_derivative; }
|
||||||
|
|
||||||
|
float STE_error() { return _STE_error; }
|
||||||
|
float STE_rate_error() { return _STE_rate_error; }
|
||||||
|
|
||||||
|
float SEB_error() { return _SEB_error; }
|
||||||
|
float SEB_rate_error() { return _SEB_rate_error; }
|
||||||
|
|
||||||
|
float throttle_integ_state() { return _throttle_integ_state; }
|
||||||
|
float pitch_integ_state() { return _pitch_integ_state; }
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Handle the altitude reset
|
||||||
|
*
|
||||||
|
* If the estimation system resets the height in one discrete step this
|
||||||
|
* will gracefully even out the reset over time.
|
||||||
|
*/
|
||||||
|
void handle_alt_step(float delta_alt, float altitude)
|
||||||
|
{
|
||||||
|
// add height reset delta to all variables involved
|
||||||
|
// in filtering the demanded height
|
||||||
|
_hgt_setpoint_in_prev += delta_alt;
|
||||||
|
_hgt_setpoint_prev += delta_alt;
|
||||||
|
_hgt_setpoint_adj_prev += delta_alt;
|
||||||
|
|
||||||
|
// reset height states
|
||||||
|
_vert_pos_state = altitude;
|
||||||
|
_vert_vel_state = 0.0f;
|
||||||
|
}
|
||||||
|
|
||||||
|
private:
|
||||||
|
|
||||||
|
enum ECL_TECS_MODE _tecs_mode {ECL_TECS_MODE_NORMAL};
|
||||||
|
|
||||||
|
// timestamps
|
||||||
|
uint64_t _state_update_timestamp{0}; ///< last timestamp of the 50 Hz function call
|
||||||
|
uint64_t _speed_update_timestamp{0}; ///< last timestamp of the speed function call
|
||||||
|
uint64_t _pitch_update_timestamp{0}; ///< last timestamp of the pitch function call
|
||||||
|
|
||||||
|
// controller parameters
|
||||||
|
float _tas_estimate_freq{0.0f}; ///< cross-over frequency of the true airspeed complementary filter (rad/sec)
|
||||||
|
float _max_climb_rate{2.0f}; ///< climb rate produced by max allowed throttle (m/sec)
|
||||||
|
float _min_sink_rate{1.0f}; ///< sink rate produced by min allowed throttle (m/sec)
|
||||||
|
float _max_sink_rate{2.0f}; ///< maximum safe sink rate (m/sec)
|
||||||
|
float _pitch_time_constant{5.0f}; ///< control time constant used by the pitch demand calculation (sec)
|
||||||
|
float _throttle_time_constant{8.0f}; ///< control time constant used by the throttle demand calculation (sec)
|
||||||
|
float _pitch_damping_gain{0.0f}; ///< damping gain of the pitch demand calculation (sec)
|
||||||
|
float _throttle_damping_gain{0.0f}; ///< damping gain of the throttle demand calculation (sec)
|
||||||
|
float _integrator_gain{0.0f}; ///< integrator gain used by the throttle and pitch demand calculation
|
||||||
|
float _vert_accel_limit{0.0f}; ///< magnitude of the maximum vertical acceleration allowed (m/sec**2)
|
||||||
|
float _load_factor_correction{0.0f}; ///< gain from normal load factor increase to total energy rate demand (m**2/sec**3)
|
||||||
|
float _pitch_speed_weight{1.0f}; ///< speed control weighting used by pitch demand calculation
|
||||||
|
float _height_error_gain{0.0f}; ///< gain from height error to demanded climb rate (1/sec)
|
||||||
|
float _height_setpoint_gain_ff{0.0f}; ///< gain from height demand derivative to demanded climb rate
|
||||||
|
float _speed_error_gain{0.0f}; ///< gain from speed error to demanded speed rate (1/sec)
|
||||||
|
float _indicated_airspeed_min{3.0f}; ///< equivalent airspeed demand lower limit (m/sec)
|
||||||
|
float _indicated_airspeed_max{30.0f}; ///< equivalent airspeed demand upper limit (m/sec)
|
||||||
|
float _throttle_slewrate{0.0f}; ///< throttle demand slew rate limit (1/sec)
|
||||||
|
|
||||||
|
// controller outputs
|
||||||
|
float _throttle_setpoint{0.0f}; ///< normalized throttle demand (0..1)
|
||||||
|
float _pitch_setpoint{0.0f}; ///< pitch angle demand (radians)
|
||||||
|
|
||||||
|
// complimentary filter states
|
||||||
|
float _vert_vel_state{0.0f}; ///< complimentary filter state - height rate (m/sec)
|
||||||
|
float _vert_pos_state{0.0f}; ///< complimentary filter state - height (m)
|
||||||
|
float _tas_rate_state{0.0f}; ///< complimentary filter state - true airspeed first derivative (m/sec**2)
|
||||||
|
float _tas_state{0.0f}; ///< complimentary filter state - true airspeed (m/sec)
|
||||||
|
|
||||||
|
// controller states
|
||||||
|
float _throttle_integ_state{0.0f}; ///< throttle integrator state
|
||||||
|
float _pitch_integ_state{0.0f}; ///< pitch integrator state (rad)
|
||||||
|
float _last_throttle_setpoint{0.0f}; ///< throttle demand rate limiter state (1/sec)
|
||||||
|
float _last_pitch_setpoint{0.0f}; ///< pitch demand rate limiter state (rad/sec)
|
||||||
|
float _speed_derivative{0.0f}; ///< rate of change of speed along X axis (m/sec**2)
|
||||||
|
|
||||||
|
// speed demand calculations
|
||||||
|
float _EAS{0.0f}; ///< equivalent airspeed (m/sec)
|
||||||
|
float _TAS_max{30.0f}; ///< true airpeed demand upper limit (m/sec)
|
||||||
|
float _TAS_min{3.0f}; ///< true airpeed demand lower limit (m/sec)
|
||||||
|
float _TAS_setpoint{0.0f}; ///< current airpeed demand (m/sec)
|
||||||
|
float _TAS_setpoint_last{0.0f}; ///< previous true airpeed demand (m/sec)
|
||||||
|
float _EAS_setpoint{0.0f}; ///< Equivalent airspeed demand (m/sec)
|
||||||
|
float _TAS_setpoint_adj{0.0f}; ///< true airspeed demand tracked by the TECS algorithm (m/sec)
|
||||||
|
float _TAS_rate_setpoint{0.0f}; ///< true airspeed rate demand tracked by the TECS algorithm (m/sec**2)
|
||||||
|
|
||||||
|
// height demand calculations
|
||||||
|
float _hgt_setpoint{0.0f}; ///< demanded height tracked by the TECS algorithm (m)
|
||||||
|
float _hgt_setpoint_in_prev{0.0f}; ///< previous value of _hgt_setpoint after noise filtering (m)
|
||||||
|
float _hgt_setpoint_prev{0.0f}; ///< previous value of _hgt_setpoint after noise filtering and rate limiting (m)
|
||||||
|
float _hgt_setpoint_adj{0.0f}; ///< demanded height used by the control loops after all filtering has been applied (m)
|
||||||
|
float _hgt_setpoint_adj_prev{0.0f}; ///< value of _hgt_setpoint_adj from previous frame (m)
|
||||||
|
float _hgt_rate_setpoint{0.0f}; ///< demanded climb rate tracked by the TECS algorithm
|
||||||
|
|
||||||
|
// vehicle physical limits
|
||||||
|
float _pitch_setpoint_unc{0.0f}; ///< pitch demand before limiting (rad)
|
||||||
|
float _STE_rate_max{0.0f}; ///< specific total energy rate upper limit achieved when throttle is at _throttle_setpoint_max (m**2/sec**3)
|
||||||
|
float _STE_rate_min{0.0f}; ///< specific total energy rate lower limit acheived when throttle is at _throttle_setpoint_min (m**2/sec**3)
|
||||||
|
float _throttle_setpoint_max{0.0f}; ///< normalised throttle upper limit
|
||||||
|
float _throttle_setpoint_min{0.0f}; ///< normalised throttle lower limit
|
||||||
|
float _pitch_setpoint_max{0.5f}; ///< pitch demand upper limit (rad)
|
||||||
|
float _pitch_setpoint_min{-0.5f}; ///< pitch demand lower limit (rad)
|
||||||
|
|
||||||
|
// specific energy quantities
|
||||||
|
float _SPE_setpoint{0.0f}; ///< specific potential energy demand (m**2/sec**2)
|
||||||
|
float _SKE_setpoint{0.0f}; ///< specific kinetic energy demand (m**2/sec**2)
|
||||||
|
float _SPE_rate_setpoint{0.0f}; ///< specific potential energy rate demand (m**2/sec**3)
|
||||||
|
float _SKE_rate_setpoint{0.0f}; ///< specific kinetic energy rate demand (m**2/sec**3)
|
||||||
|
float _SPE_estimate{0.0f}; ///< specific potential energy estimate (m**2/sec**2)
|
||||||
|
float _SKE_estimate{0.0f}; ///< specific kinetic energy estimate (m**2/sec**2)
|
||||||
|
float _SPE_rate{0.0f}; ///< specific potential energy rate estimate (m**2/sec**3)
|
||||||
|
float _SKE_rate{0.0f}; ///< specific kinetic energy rate estimate (m**2/sec**3)
|
||||||
|
|
||||||
|
// specific energy error quantities
|
||||||
|
float _STE_error{0.0f}; ///< specific total energy error (m**2/sec**2)
|
||||||
|
float _STE_rate_error{0.0f}; ///< specific total energy rate error (m**2/sec**3)
|
||||||
|
float _SEB_error{0.0f}; ///< specific energy balance error (m**2/sec**2)
|
||||||
|
float _SEB_rate_error{0.0f}; ///< specific energy balance rate error (m**2/sec**3)
|
||||||
|
|
||||||
|
// time steps (non-fixed)
|
||||||
|
float _dt{DT_DEFAULT}; ///< Time since last update of main TECS loop (sec)
|
||||||
|
static constexpr float DT_DEFAULT = 0.02f; ///< default value for _dt (sec)
|
||||||
|
|
||||||
|
// controller mode logic
|
||||||
|
bool _underspeed_detected{false}; ///< true when an underspeed condition has been detected
|
||||||
|
bool _detect_underspeed_enabled{true}; ///< true when underspeed detection is enabled
|
||||||
|
bool _uncommanded_descent_recovery{false}; ///< true when a continuous descent caused by an unachievable airspeed demand has been detected
|
||||||
|
bool _climbout_mode_active{false}; ///< true when in climbout mode
|
||||||
|
bool _airspeed_enabled{false}; ///< true when airspeed use has been enabled
|
||||||
|
bool _states_initialized{false}; ///< true when TECS states have been iniitalized
|
||||||
|
bool _in_air{false}; ///< true when the vehicle is flying
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Update the airspeed internal state using a second order complementary filter
|
||||||
|
*/
|
||||||
|
void _update_speed_states(float airspeed_setpoint, float indicated_airspeed, float eas_to_tas);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Update the desired airspeed
|
||||||
|
*/
|
||||||
|
void _update_speed_setpoint();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Update the desired height
|
||||||
|
*/
|
||||||
|
void _update_height_setpoint(float desired, float state);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Detect if the system is not capable of maintaining airspeed
|
||||||
|
*/
|
||||||
|
void _detect_underspeed();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Update specific energy
|
||||||
|
*/
|
||||||
|
void _update_energy_estimates();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Update throttle setpoint
|
||||||
|
*/
|
||||||
|
void _update_throttle_setpoint(float throttle_cruise, const matrix::Dcmf &rotMat);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Detect an uncommanded descent
|
||||||
|
*/
|
||||||
|
void _detect_uncommanded_descent();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Update the pitch setpoint
|
||||||
|
*/
|
||||||
|
void _update_pitch_setpoint();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Initialize the controller
|
||||||
|
*/
|
||||||
|
void _initialize_states(float pitch, float throttle_cruise, float baro_altitude, float pitch_min_climbout,
|
||||||
|
float eas_to_tas);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Calculate specific total energy rate limits
|
||||||
|
*/
|
||||||
|
void _update_STE_rate_lim();
|
||||||
|
|
||||||
|
};
|
||||||
@@ -39,11 +39,11 @@ px4_add_module(
|
|||||||
MAIN fw_pos_control_l1
|
MAIN fw_pos_control_l1
|
||||||
SRCS
|
SRCS
|
||||||
FixedwingPositionControl.cpp
|
FixedwingPositionControl.cpp
|
||||||
|
FixedwingPositionControl.hpp
|
||||||
DEPENDS
|
DEPENDS
|
||||||
git_ecl
|
l1
|
||||||
ecl_l1
|
|
||||||
ecl_tecs
|
|
||||||
launchdetection
|
launchdetection
|
||||||
landing_slope
|
landing_slope
|
||||||
runway_takeoff
|
runway_takeoff
|
||||||
|
tecs
|
||||||
)
|
)
|
||||||
|
|||||||
@@ -55,8 +55,8 @@
|
|||||||
|
|
||||||
#include <drivers/drv_hrt.h>
|
#include <drivers/drv_hrt.h>
|
||||||
#include <lib/ecl/geo/geo.h>
|
#include <lib/ecl/geo/geo.h>
|
||||||
#include <lib/ecl/l1/ecl_l1_pos_controller.h>
|
#include <lib/l1/ECL_L1_Pos_Controller.hpp>
|
||||||
#include <lib/ecl/tecs/tecs.h>
|
#include <lib/tecs/TECS.hpp>
|
||||||
#include <lib/landing_slope/Landingslope.hpp>
|
#include <lib/landing_slope/Landingslope.hpp>
|
||||||
#include <lib/mathlib/mathlib.h>
|
#include <lib/mathlib/mathlib.h>
|
||||||
#include <lib/perf/perf_counter.h>
|
#include <lib/perf/perf_counter.h>
|
||||||
|
|||||||
@@ -35,8 +35,8 @@ px4_add_module(
|
|||||||
MAIN rover_pos_control
|
MAIN rover_pos_control
|
||||||
SRCS
|
SRCS
|
||||||
RoverPositionControl.cpp
|
RoverPositionControl.cpp
|
||||||
|
RoverPositionControl.hpp
|
||||||
DEPENDS
|
DEPENDS
|
||||||
git_ecl
|
l1
|
||||||
ecl_l1
|
|
||||||
pid
|
pid
|
||||||
)
|
)
|
||||||
|
|||||||
@@ -45,7 +45,7 @@
|
|||||||
|
|
||||||
#include <drivers/drv_hrt.h>
|
#include <drivers/drv_hrt.h>
|
||||||
#include <lib/ecl/geo/geo.h>
|
#include <lib/ecl/geo/geo.h>
|
||||||
#include <lib/ecl/l1/ecl_l1_pos_controller.h>
|
#include <lib/l1/ECL_L1_Pos_Controller.hpp>
|
||||||
#include <lib/mathlib/mathlib.h>
|
#include <lib/mathlib/mathlib.h>
|
||||||
#include <lib/perf/perf_counter.h>
|
#include <lib/perf/perf_counter.h>
|
||||||
#include <lib/pid/pid.h>
|
#include <lib/pid/pid.h>
|
||||||
|
|||||||
@@ -31,6 +31,8 @@
|
|||||||
#
|
#
|
||||||
############################################################################
|
############################################################################
|
||||||
|
|
||||||
|
add_subdirectory(data_validator)
|
||||||
|
|
||||||
add_subdirectory(sensor_calibration) # used by vehicle_{acceleration, angular_velocity, imu}
|
add_subdirectory(sensor_calibration) # used by vehicle_{acceleration, angular_velocity, imu}
|
||||||
include_directories(${CMAKE_CURRENT_SOURCE_DIR})
|
include_directories(${CMAKE_CURRENT_SOURCE_DIR})
|
||||||
add_subdirectory(vehicle_acceleration)
|
add_subdirectory(vehicle_acceleration)
|
||||||
@@ -48,9 +50,9 @@ px4_add_module(
|
|||||||
DEPENDS
|
DEPENDS
|
||||||
airspeed
|
airspeed
|
||||||
conversion
|
conversion
|
||||||
|
data_validator
|
||||||
drivers__device
|
drivers__device
|
||||||
git_ecl
|
git_ecl
|
||||||
ecl_validation
|
|
||||||
mathlib
|
mathlib
|
||||||
vehicle_acceleration
|
vehicle_acceleration
|
||||||
vehicle_angular_velocity
|
vehicle_angular_velocity
|
||||||
|
|||||||
@@ -0,0 +1,39 @@
|
|||||||
|
############################################################################
|
||||||
|
#
|
||||||
|
# Copyright (c) 2018-2020 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.
|
||||||
|
#
|
||||||
|
############################################################################
|
||||||
|
|
||||||
|
px4_add_library(data_validator
|
||||||
|
DataValidator.cpp
|
||||||
|
DataValidator.hpp
|
||||||
|
DataValidatorGroup.cpp
|
||||||
|
DataValidatorGroup.hpp
|
||||||
|
)
|
||||||
@@ -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()));
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,200 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* 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.hpp
|
||||||
|
*
|
||||||
|
* A data validation class to identify anomalies in data streams
|
||||||
|
*
|
||||||
|
* @author Lorenz Meier <lorenz@px4.io>
|
||||||
|
*/
|
||||||
|
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
#include <math.h>
|
||||||
|
#include <stdint.h>
|
||||||
|
|
||||||
|
class DataValidator
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
static const unsigned dimensions = 3;
|
||||||
|
|
||||||
|
DataValidator() = default;
|
||||||
|
~DataValidator() = default;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Put an item into the validator.
|
||||||
|
*
|
||||||
|
* @param val Item to put
|
||||||
|
*/
|
||||||
|
void put(uint64_t timestamp, float val, uint64_t error_count, int priority);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Put a 3D item into the validator.
|
||||||
|
*
|
||||||
|
* @param val Item to put
|
||||||
|
*/
|
||||||
|
void put(uint64_t timestamp, const float val[dimensions], uint64_t error_count, int priority);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Get the next sibling in the group
|
||||||
|
*
|
||||||
|
* @return the next sibling
|
||||||
|
*/
|
||||||
|
DataValidator *sibling() { return _sibling; }
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Set the sibling to the next node in the group
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
void setSibling(DataValidator *new_sibling) { _sibling = new_sibling; }
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Get the confidence of this validator
|
||||||
|
* @return the confidence between 0 and 1
|
||||||
|
*/
|
||||||
|
float confidence(uint64_t timestamp);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Get the error count of this validator
|
||||||
|
* @return the error count
|
||||||
|
*/
|
||||||
|
uint64_t error_count() const { return _error_count; }
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Get the values of this validator
|
||||||
|
* @return the stored value
|
||||||
|
*/
|
||||||
|
float *value() { return _value; }
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Get the used status of this validator
|
||||||
|
* @return true if this validator ever saw data
|
||||||
|
*/
|
||||||
|
bool used() const { return (_time_last > 0); }
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Get the priority of this validator
|
||||||
|
* @return the stored priority
|
||||||
|
*/
|
||||||
|
int priority() const { return _priority; }
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Get the error state of this validator
|
||||||
|
* @return the bitmask with the error status
|
||||||
|
*/
|
||||||
|
uint32_t state() const { return _error_mask; }
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Reset the error state of this validator
|
||||||
|
*/
|
||||||
|
void reset_state() { _error_mask = ERROR_FLAG_NO_ERROR; }
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Get the RMS values of this validator
|
||||||
|
* @return the stored RMS
|
||||||
|
*/
|
||||||
|
float *rms() { return _rms; }
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Print the validator value
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
void print();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Set the timeout value
|
||||||
|
*
|
||||||
|
* @param timeout_interval_us The timeout interval in microseconds
|
||||||
|
*/
|
||||||
|
void set_timeout(uint32_t timeout_interval_us) { _timeout_interval = timeout_interval_us; }
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Set the equal count threshold
|
||||||
|
*
|
||||||
|
* @param threshold The number of equal values before considering the sensor stale
|
||||||
|
*/
|
||||||
|
void set_equal_value_threshold(uint32_t threshold) { _value_equal_count_threshold = threshold; }
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Get the timeout value
|
||||||
|
*
|
||||||
|
* @return The timeout interval in microseconds
|
||||||
|
*/
|
||||||
|
uint32_t get_timeout() const { return _timeout_interval; }
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Data validator error states
|
||||||
|
*/
|
||||||
|
static constexpr uint32_t ERROR_FLAG_NO_ERROR = (0x00000000U);
|
||||||
|
static constexpr uint32_t ERROR_FLAG_NO_DATA = (0x00000001U);
|
||||||
|
static constexpr uint32_t ERROR_FLAG_STALE_DATA = (0x00000001U << 1);
|
||||||
|
static constexpr uint32_t ERROR_FLAG_TIMEOUT = (0x00000001U << 2);
|
||||||
|
static constexpr uint32_t ERROR_FLAG_HIGH_ERRCOUNT = (0x00000001U << 3);
|
||||||
|
static constexpr uint32_t ERROR_FLAG_HIGH_ERRDENSITY = (0x00000001U << 4);
|
||||||
|
|
||||||
|
private:
|
||||||
|
uint32_t _error_mask{ERROR_FLAG_NO_ERROR}; /**< sensor error state */
|
||||||
|
|
||||||
|
uint32_t _timeout_interval{20000}; /**< interval in which the datastream times out in us */
|
||||||
|
|
||||||
|
uint64_t _time_last{0}; /**< last timestamp */
|
||||||
|
uint64_t _event_count{0}; /**< total data counter */
|
||||||
|
uint64_t _error_count{0}; /**< error count */
|
||||||
|
|
||||||
|
int _error_density{0}; /**< ratio between successful reads and errors */
|
||||||
|
|
||||||
|
int _priority{0}; /**< sensor nominal priority */
|
||||||
|
|
||||||
|
float _mean[dimensions] {}; /**< mean of value */
|
||||||
|
float _lp[dimensions] {}; /**< low pass value */
|
||||||
|
float _M2[dimensions] {}; /**< RMS component value */
|
||||||
|
float _rms[dimensions] {}; /**< root mean square error */
|
||||||
|
float _value[dimensions] {}; /**< last value */
|
||||||
|
|
||||||
|
unsigned _value_equal_count{0}; /**< equal values in a row */
|
||||||
|
unsigned _value_equal_count_threshold{
|
||||||
|
VALUE_EQUAL_COUNT_DEFAULT}; /**< when to consider an equal count as a problem */
|
||||||
|
|
||||||
|
DataValidator *_sibling{nullptr}; /**< sibling in the group */
|
||||||
|
|
||||||
|
static const constexpr unsigned NORETURN_ERRCOUNT =
|
||||||
|
10000; /**< if the error count reaches this value, return sensor as invalid */
|
||||||
|
static const constexpr float ERROR_DENSITY_WINDOW = 100.0f; /**< window in measurement counts for errors */
|
||||||
|
static const constexpr unsigned VALUE_EQUAL_COUNT_DEFAULT =
|
||||||
|
100; /**< if the sensor value is the same (accumulated also between axes) this many times, flag it */
|
||||||
|
|
||||||
|
/* we don't want this class to be copied */
|
||||||
|
DataValidator(const DataValidator &) = delete;
|
||||||
|
DataValidator operator=(const DataValidator &) = delete;
|
||||||
|
};
|
||||||
@@ -0,0 +1,307 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* 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 DataValidatorGroup.cpp
|
||||||
|
*
|
||||||
|
* A data validation group to identify anomalies in data streams
|
||||||
|
*
|
||||||
|
* @author Lorenz Meier <lorenz@px4.io>
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "DataValidatorGroup.hpp"
|
||||||
|
|
||||||
|
#include <px4_platform_common/log.h>
|
||||||
|
|
||||||
|
#include <float.h>
|
||||||
|
|
||||||
|
DataValidatorGroup::DataValidatorGroup(unsigned siblings)
|
||||||
|
{
|
||||||
|
|
||||||
|
DataValidator *next = nullptr;
|
||||||
|
DataValidator *prev = nullptr;
|
||||||
|
|
||||||
|
for (unsigned i = 0; i < siblings; i++) {
|
||||||
|
next = new DataValidator();
|
||||||
|
|
||||||
|
if (i == 0) {
|
||||||
|
_first = next;
|
||||||
|
|
||||||
|
} else {
|
||||||
|
prev->setSibling(next);
|
||||||
|
}
|
||||||
|
|
||||||
|
prev = next;
|
||||||
|
}
|
||||||
|
|
||||||
|
_last = next;
|
||||||
|
|
||||||
|
if (_first) {
|
||||||
|
_timeout_interval_us = _first->get_timeout();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
DataValidatorGroup::~DataValidatorGroup()
|
||||||
|
{
|
||||||
|
while (_first) {
|
||||||
|
DataValidator *next = _first->sibling();
|
||||||
|
delete (_first);
|
||||||
|
_first = next;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
DataValidator *DataValidatorGroup::add_new_validator()
|
||||||
|
{
|
||||||
|
|
||||||
|
DataValidator *validator = new DataValidator();
|
||||||
|
|
||||||
|
if (!validator) {
|
||||||
|
return nullptr;
|
||||||
|
}
|
||||||
|
|
||||||
|
_last->setSibling(validator);
|
||||||
|
_last = validator;
|
||||||
|
_last->set_timeout(_timeout_interval_us);
|
||||||
|
return _last;
|
||||||
|
}
|
||||||
|
|
||||||
|
void DataValidatorGroup::set_timeout(uint32_t timeout_interval_us)
|
||||||
|
{
|
||||||
|
|
||||||
|
DataValidator *next = _first;
|
||||||
|
|
||||||
|
while (next != nullptr) {
|
||||||
|
next->set_timeout(timeout_interval_us);
|
||||||
|
next = next->sibling();
|
||||||
|
}
|
||||||
|
|
||||||
|
_timeout_interval_us = timeout_interval_us;
|
||||||
|
}
|
||||||
|
|
||||||
|
void DataValidatorGroup::set_equal_value_threshold(uint32_t threshold)
|
||||||
|
{
|
||||||
|
|
||||||
|
DataValidator *next = _first;
|
||||||
|
|
||||||
|
while (next != nullptr) {
|
||||||
|
next->set_equal_value_threshold(threshold);
|
||||||
|
next = next->sibling();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void DataValidatorGroup::put(unsigned index, uint64_t timestamp, const float val[3], uint64_t error_count,
|
||||||
|
int priority)
|
||||||
|
{
|
||||||
|
|
||||||
|
DataValidator *next = _first;
|
||||||
|
unsigned i = 0;
|
||||||
|
|
||||||
|
while (next != nullptr) {
|
||||||
|
if (i == index) {
|
||||||
|
next->put(timestamp, val, error_count, priority);
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
next = next->sibling();
|
||||||
|
i++;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
float *DataValidatorGroup::get_best(uint64_t timestamp, int *index)
|
||||||
|
{
|
||||||
|
|
||||||
|
DataValidator *next = _first;
|
||||||
|
|
||||||
|
// XXX This should eventually also include voting
|
||||||
|
int pre_check_best = _curr_best;
|
||||||
|
float pre_check_confidence = 1.0f;
|
||||||
|
int pre_check_prio = -1;
|
||||||
|
float max_confidence = -1.0f;
|
||||||
|
int max_priority = -1000;
|
||||||
|
int max_index = -1;
|
||||||
|
DataValidator *best = nullptr;
|
||||||
|
|
||||||
|
int i = 0;
|
||||||
|
|
||||||
|
while (next != nullptr) {
|
||||||
|
float confidence = next->confidence(timestamp);
|
||||||
|
|
||||||
|
if (i == pre_check_best) {
|
||||||
|
pre_check_prio = next->priority();
|
||||||
|
pre_check_confidence = confidence;
|
||||||
|
}
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Switch if:
|
||||||
|
* 1) the confidence is higher and priority is equal or higher
|
||||||
|
* 2) the confidence is no less than 1% different and the priority is higher
|
||||||
|
*/
|
||||||
|
if ((((max_confidence < MIN_REGULAR_CONFIDENCE) && (confidence >= MIN_REGULAR_CONFIDENCE)) ||
|
||||||
|
(confidence > max_confidence && (next->priority() >= max_priority)) ||
|
||||||
|
(fabsf(confidence - max_confidence) < 0.01f && (next->priority() > max_priority))) &&
|
||||||
|
(confidence > 0.0f)) {
|
||||||
|
max_index = i;
|
||||||
|
max_confidence = confidence;
|
||||||
|
max_priority = next->priority();
|
||||||
|
best = next;
|
||||||
|
}
|
||||||
|
|
||||||
|
next = next->sibling();
|
||||||
|
i++;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* the current best sensor is not matching the previous best sensor,
|
||||||
|
* or the only sensor went bad */
|
||||||
|
if (max_index != _curr_best || ((max_confidence < FLT_EPSILON) && (_curr_best >= 0))) {
|
||||||
|
bool true_failsafe = true;
|
||||||
|
|
||||||
|
/* check whether the switch was a failsafe or preferring a higher priority sensor */
|
||||||
|
if (pre_check_prio != -1 && pre_check_prio < max_priority &&
|
||||||
|
fabsf(pre_check_confidence - max_confidence) < 0.1f) {
|
||||||
|
/* this is not a failover */
|
||||||
|
true_failsafe = false;
|
||||||
|
|
||||||
|
/* reset error flags, this is likely a hotplug sensor coming online late */
|
||||||
|
if (best != nullptr) {
|
||||||
|
best->reset_state();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/* if we're no initialized, initialize the bookkeeping but do not count a failsafe */
|
||||||
|
if (_curr_best < 0) {
|
||||||
|
_prev_best = max_index;
|
||||||
|
|
||||||
|
} else {
|
||||||
|
/* we were initialized before, this is a real failsafe */
|
||||||
|
_prev_best = pre_check_best;
|
||||||
|
|
||||||
|
if (true_failsafe) {
|
||||||
|
_toggle_count++;
|
||||||
|
|
||||||
|
/* if this is the first time, log when we failed */
|
||||||
|
if (_first_failover_time == 0) {
|
||||||
|
_first_failover_time = timestamp;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/* for all cases we want to keep a record of the best index */
|
||||||
|
_curr_best = max_index;
|
||||||
|
}
|
||||||
|
|
||||||
|
*index = max_index;
|
||||||
|
return (best) ? best->value() : nullptr;
|
||||||
|
}
|
||||||
|
|
||||||
|
void DataValidatorGroup::print()
|
||||||
|
{
|
||||||
|
PX4_INFO("validator: best: %d, prev best: %d, failsafe: %s (%u events)", _curr_best, _prev_best,
|
||||||
|
(_toggle_count > 0) ? "YES" : "NO", _toggle_count);
|
||||||
|
|
||||||
|
DataValidator *next = _first;
|
||||||
|
unsigned i = 0;
|
||||||
|
|
||||||
|
while (next != nullptr) {
|
||||||
|
if (next->used()) {
|
||||||
|
uint32_t flags = next->state();
|
||||||
|
|
||||||
|
PX4_INFO("sensor #%u, prio: %d, state:%s%s%s%s%s%s", i, next->priority(),
|
||||||
|
((flags & DataValidator::ERROR_FLAG_NO_DATA) ? " OFF" : ""),
|
||||||
|
((flags & DataValidator::ERROR_FLAG_STALE_DATA) ? " STALE" : ""),
|
||||||
|
((flags & DataValidator::ERROR_FLAG_TIMEOUT) ? " TOUT" : ""),
|
||||||
|
((flags & DataValidator::ERROR_FLAG_HIGH_ERRCOUNT) ? " ECNT" : ""),
|
||||||
|
((flags & DataValidator::ERROR_FLAG_HIGH_ERRDENSITY) ? " EDNST" : ""),
|
||||||
|
((flags == DataValidator::ERROR_FLAG_NO_ERROR) ? " OK" : ""));
|
||||||
|
|
||||||
|
next->print();
|
||||||
|
}
|
||||||
|
|
||||||
|
next = next->sibling();
|
||||||
|
i++;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
int DataValidatorGroup::failover_index()
|
||||||
|
{
|
||||||
|
DataValidator *next = _first;
|
||||||
|
unsigned i = 0;
|
||||||
|
|
||||||
|
while (next != nullptr) {
|
||||||
|
if (next->used() && (next->state() != DataValidator::ERROR_FLAG_NO_ERROR) &&
|
||||||
|
(i == (unsigned)_prev_best)) {
|
||||||
|
return i;
|
||||||
|
}
|
||||||
|
|
||||||
|
next = next->sibling();
|
||||||
|
i++;
|
||||||
|
}
|
||||||
|
|
||||||
|
return -1;
|
||||||
|
}
|
||||||
|
|
||||||
|
uint32_t DataValidatorGroup::failover_state()
|
||||||
|
{
|
||||||
|
|
||||||
|
DataValidator *next = _first;
|
||||||
|
unsigned i = 0;
|
||||||
|
|
||||||
|
while (next != nullptr) {
|
||||||
|
if (next->used() && (next->state() != DataValidator::ERROR_FLAG_NO_ERROR) &&
|
||||||
|
(i == (unsigned)_prev_best)) {
|
||||||
|
return next->state();
|
||||||
|
}
|
||||||
|
|
||||||
|
next = next->sibling();
|
||||||
|
i++;
|
||||||
|
}
|
||||||
|
|
||||||
|
return DataValidator::ERROR_FLAG_NO_ERROR;
|
||||||
|
}
|
||||||
|
|
||||||
|
uint32_t DataValidatorGroup::get_sensor_state(unsigned index)
|
||||||
|
{
|
||||||
|
DataValidator *next = _first;
|
||||||
|
unsigned i = 0;
|
||||||
|
|
||||||
|
while (next != nullptr) {
|
||||||
|
if (i == index) {
|
||||||
|
return next->state();
|
||||||
|
}
|
||||||
|
|
||||||
|
next = next->sibling();
|
||||||
|
i++;
|
||||||
|
}
|
||||||
|
|
||||||
|
// sensor index not found
|
||||||
|
return UINT32_MAX;
|
||||||
|
}
|
||||||
@@ -0,0 +1,145 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* 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 DataValidatorGroup.hpp
|
||||||
|
*
|
||||||
|
* A data validation group to identify anomalies in data streams
|
||||||
|
*
|
||||||
|
* @author Lorenz Meier <lorenz@px4.io>
|
||||||
|
*/
|
||||||
|
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
#include "DataValidator.hpp"
|
||||||
|
|
||||||
|
class DataValidatorGroup
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
/**
|
||||||
|
* @param siblings initial number of DataValidator's. Must be > 0.
|
||||||
|
*/
|
||||||
|
DataValidatorGroup(unsigned siblings);
|
||||||
|
~DataValidatorGroup();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Create a new Validator (with index equal to the number of currently existing validators)
|
||||||
|
* @return the newly created DataValidator or nullptr on error
|
||||||
|
*/
|
||||||
|
DataValidator *add_new_validator();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Put an item into the validator group.
|
||||||
|
*
|
||||||
|
* @param index Sensor index
|
||||||
|
* @param timestamp The timestamp of the measurement
|
||||||
|
* @param val The 3D vector
|
||||||
|
* @param error_count The current error count of the sensor
|
||||||
|
* @param priority The priority of the sensor
|
||||||
|
*/
|
||||||
|
void put(unsigned index, uint64_t timestamp, const float val[3], uint64_t error_count, int priority);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Get the best data triplet of the group
|
||||||
|
*
|
||||||
|
* @return pointer to the array of best values
|
||||||
|
*/
|
||||||
|
float *get_best(uint64_t timestamp, int *index);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Get the number of failover events
|
||||||
|
*
|
||||||
|
* @return the number of failovers
|
||||||
|
*/
|
||||||
|
unsigned failover_count() const { return _toggle_count; }
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Get the index of the failed sensor in the group
|
||||||
|
*
|
||||||
|
* @return index of the failed sensor
|
||||||
|
*/
|
||||||
|
int failover_index();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Get the error state of the failed sensor in the group
|
||||||
|
*
|
||||||
|
* @return bitmask with erro states of the failed sensor
|
||||||
|
*/
|
||||||
|
uint32_t failover_state();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Get the error state of the sensor with the specified index
|
||||||
|
*
|
||||||
|
* @return bitmask with error states of the sensor
|
||||||
|
*/
|
||||||
|
uint32_t get_sensor_state(unsigned index);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Print the validator value
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
void print();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Set the timeout value for the whole group
|
||||||
|
*
|
||||||
|
* @param timeout_interval_us The timeout interval in microseconds
|
||||||
|
*/
|
||||||
|
void set_timeout(uint32_t timeout_interval_us);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Set the equal count threshold for the whole group
|
||||||
|
*
|
||||||
|
* @param threshold The number of equal values before considering the sensor stale
|
||||||
|
*/
|
||||||
|
void set_equal_value_threshold(uint32_t threshold);
|
||||||
|
|
||||||
|
private:
|
||||||
|
DataValidator *_first{nullptr}; /**< first node in the group */
|
||||||
|
DataValidator *_last{nullptr}; /**< last node in the group */
|
||||||
|
|
||||||
|
uint32_t _timeout_interval_us{0}; /**< currently set timeout */
|
||||||
|
|
||||||
|
int _curr_best{-1}; /**< currently best index */
|
||||||
|
int _prev_best{-1}; /**< the previous best index */
|
||||||
|
|
||||||
|
uint64_t _first_failover_time{0}; /**< timestamp where the first failover occured or zero if none occured */
|
||||||
|
|
||||||
|
unsigned _toggle_count{0}; /**< number of back and forth switches between two sensors */
|
||||||
|
|
||||||
|
static constexpr float MIN_REGULAR_CONFIDENCE = 0.9f;
|
||||||
|
|
||||||
|
/* we don't want this class to be copied */
|
||||||
|
DataValidatorGroup(const DataValidatorGroup &);
|
||||||
|
DataValidatorGroup operator=(const DataValidatorGroup &);
|
||||||
|
};
|
||||||
@@ -0,0 +1,46 @@
|
|||||||
|
############################################################################
|
||||||
|
#
|
||||||
|
# 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.
|
||||||
|
#
|
||||||
|
############################################################################
|
||||||
|
|
||||||
|
add_executable(ecl_tests_data_validator test_data_validator.cpp tests_common.cpp)
|
||||||
|
target_link_libraries(ecl_tests_data_validator ecl_validation)
|
||||||
|
|
||||||
|
add_test(NAME ecl_tests_data_validator
|
||||||
|
COMMAND ecl_tests_data_validator
|
||||||
|
)
|
||||||
|
|
||||||
|
add_executable(ecl_tests_data_validator_group test_data_validator_group.cpp tests_common.cpp)
|
||||||
|
target_link_libraries(ecl_tests_data_validator_group ecl_validation)
|
||||||
|
|
||||||
|
add_test(NAME ecl_tests_data_validator_group
|
||||||
|
COMMAND ecl_tests_data_validator_group
|
||||||
|
)
|
||||||
@@ -0,0 +1,302 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* Copyright (c) 2019 Todd Stellanova. 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 of the copyright holder 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 test_data_validator.cpp
|
||||||
|
* Testing the DataValidator class
|
||||||
|
*
|
||||||
|
* @author Todd Stellanova
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <stdint.h>
|
||||||
|
#include <cassert>
|
||||||
|
#include <cstdlib>
|
||||||
|
#include <stdio.h>
|
||||||
|
#include <math.h>
|
||||||
|
#include <validation/data_validator.h>
|
||||||
|
#include <validation/tests/tests_common.h>
|
||||||
|
|
||||||
|
|
||||||
|
void test_init()
|
||||||
|
{
|
||||||
|
printf("\n--- test_init ---\n");
|
||||||
|
|
||||||
|
uint64_t fake_timestamp = 666;
|
||||||
|
const uint32_t timeout_usec = 2000;//from original private value
|
||||||
|
|
||||||
|
DataValidator *validator = new DataValidator;
|
||||||
|
// initially there should be no siblings
|
||||||
|
assert(nullptr == validator->sibling());
|
||||||
|
// initially we should have zero confidence
|
||||||
|
assert(0.0f == validator->confidence(fake_timestamp));
|
||||||
|
// initially the error count should be zero
|
||||||
|
assert(0 == validator->error_count());
|
||||||
|
// initially unused
|
||||||
|
assert(!validator->used());
|
||||||
|
// initially no priority
|
||||||
|
assert(0 == validator->priority());
|
||||||
|
validator->set_timeout(timeout_usec);
|
||||||
|
assert(validator->get_timeout() == timeout_usec);
|
||||||
|
|
||||||
|
|
||||||
|
DataValidator *sibling_validator = new DataValidator;
|
||||||
|
validator->setSibling(sibling_validator);
|
||||||
|
assert(sibling_validator == validator->sibling());
|
||||||
|
|
||||||
|
//verify that with no data, confidence is zero and error mask is set
|
||||||
|
assert(0.0f == validator->confidence(fake_timestamp + 1));
|
||||||
|
uint32_t state = validator->state();
|
||||||
|
assert(DataValidator::ERROR_FLAG_NO_DATA == (DataValidator::ERROR_FLAG_NO_DATA & state));
|
||||||
|
|
||||||
|
//verify that calling print doesn't crash tests
|
||||||
|
validator->print();
|
||||||
|
|
||||||
|
delete validator; //force delete
|
||||||
|
}
|
||||||
|
|
||||||
|
void test_put()
|
||||||
|
{
|
||||||
|
printf("\n--- test_put ---\n");
|
||||||
|
|
||||||
|
uint64_t timestamp = 500;
|
||||||
|
const uint32_t timeout_usec = 2000;//derived from class-private value
|
||||||
|
float val = 3.14159f;
|
||||||
|
//derived from class-private value: this is min change needed to avoid stale detection
|
||||||
|
const float sufficient_incr_value = (1.1f * 1E-6f);
|
||||||
|
|
||||||
|
DataValidator *validator = new DataValidator;
|
||||||
|
fill_validator_with_samples(validator, sufficient_incr_value, &val, ×tamp);
|
||||||
|
|
||||||
|
assert(validator->used());
|
||||||
|
//verify that the last value we inserted is the current validator value
|
||||||
|
float last_val = val - sufficient_incr_value;
|
||||||
|
assert(validator->value()[0] == last_val);
|
||||||
|
|
||||||
|
// we've just provided a bunch of valid data: should be fully confident
|
||||||
|
float conf = validator->confidence(timestamp);
|
||||||
|
|
||||||
|
if (1.0f != conf) {
|
||||||
|
printf("conf: %f\n", (double)conf);
|
||||||
|
dump_validator_state(validator);
|
||||||
|
}
|
||||||
|
|
||||||
|
assert(1.0f == conf);
|
||||||
|
// should be no errors
|
||||||
|
assert(0 == validator->state());
|
||||||
|
|
||||||
|
//now check confidence much beyond the timeout window-- should timeout
|
||||||
|
conf = validator->confidence(timestamp + (1.1 * timeout_usec));
|
||||||
|
|
||||||
|
if (0.0f != conf) {
|
||||||
|
printf("conf: %f\n", (double)conf);
|
||||||
|
dump_validator_state(validator);
|
||||||
|
}
|
||||||
|
|
||||||
|
assert(0.0f == conf);
|
||||||
|
assert(DataValidator::ERROR_FLAG_TIMEOUT == (DataValidator::ERROR_FLAG_TIMEOUT & validator->state()));
|
||||||
|
|
||||||
|
delete validator; //force delete
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Verify that the DataValidator detects sensor data that does not vary sufficiently
|
||||||
|
*/
|
||||||
|
void test_stale_detector()
|
||||||
|
{
|
||||||
|
printf("\n--- test_stale_detector ---\n");
|
||||||
|
|
||||||
|
uint64_t timestamp = 500;
|
||||||
|
float val = 3.14159f;
|
||||||
|
//derived from class-private value, this is insufficient to avoid stale detection:
|
||||||
|
const float insufficient_incr_value = (0.99 * 1E-6f);
|
||||||
|
|
||||||
|
DataValidator *validator = new DataValidator;
|
||||||
|
fill_validator_with_samples(validator, insufficient_incr_value, &val, ×tamp);
|
||||||
|
|
||||||
|
// data is stale: should have no confidence
|
||||||
|
assert(0.0f == validator->confidence(timestamp));
|
||||||
|
|
||||||
|
// should be a stale error
|
||||||
|
uint32_t state = validator->state();
|
||||||
|
|
||||||
|
if (DataValidator::ERROR_FLAG_STALE_DATA != state) {
|
||||||
|
dump_validator_state(validator);
|
||||||
|
}
|
||||||
|
|
||||||
|
assert(DataValidator::ERROR_FLAG_STALE_DATA == (DataValidator::ERROR_FLAG_STALE_DATA & state));
|
||||||
|
|
||||||
|
delete validator; //force delete
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Verify the RMS error calculated by the DataValidator for a series of samples
|
||||||
|
*/
|
||||||
|
void test_rms_calculation()
|
||||||
|
{
|
||||||
|
printf("\n--- test_rms_calculation ---\n");
|
||||||
|
const int equal_value_count = 100; //default is private VALUE_EQUAL_COUNT_DEFAULT
|
||||||
|
const float mean_value = 3.14159f;
|
||||||
|
const uint32_t sample_count = 1000;
|
||||||
|
float expected_rms_err = 0.0f;
|
||||||
|
uint64_t timestamp = 500;
|
||||||
|
|
||||||
|
DataValidator *validator = new DataValidator;
|
||||||
|
validator->set_equal_value_threshold(equal_value_count);
|
||||||
|
|
||||||
|
insert_values_around_mean(validator, mean_value, sample_count, &expected_rms_err, ×tamp);
|
||||||
|
float *rms = validator->rms();
|
||||||
|
assert(nullptr != rms);
|
||||||
|
float calc_rms_err = rms[0];
|
||||||
|
float diff = fabsf(calc_rms_err - expected_rms_err);
|
||||||
|
float diff_frac = (diff / expected_rms_err);
|
||||||
|
printf("rms: %f expect: %f diff: %f frac: %f\n", (double)calc_rms_err, (double)expected_rms_err,
|
||||||
|
(double)diff, (double)diff_frac);
|
||||||
|
assert(diff_frac < 0.03f);
|
||||||
|
|
||||||
|
delete validator; //force delete
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Verify error tracking performed by DataValidator::put
|
||||||
|
*/
|
||||||
|
void test_error_tracking()
|
||||||
|
{
|
||||||
|
printf("\n--- test_error_tracking ---\n");
|
||||||
|
uint64_t timestamp = 500;
|
||||||
|
uint64_t timestamp_incr = 5;
|
||||||
|
const uint32_t timeout_usec = 2000;//from original private value
|
||||||
|
float val = 3.14159f;
|
||||||
|
uint64_t error_count = 0;
|
||||||
|
int expected_error_density = 0;
|
||||||
|
int priority = 50;
|
||||||
|
//from private value: this is min change needed to avoid stale detection
|
||||||
|
const float sufficient_incr_value = (1.1f * 1E-6f);
|
||||||
|
//default is private VALUE_EQUAL_COUNT_DEFAULT
|
||||||
|
const int equal_value_count = 50000;
|
||||||
|
//should be less than equal_value_count: ensure this is less than NORETURN_ERRCOUNT
|
||||||
|
const int total_iterations = 1000;
|
||||||
|
|
||||||
|
DataValidator *validator = new DataValidator;
|
||||||
|
validator->set_timeout(timeout_usec);
|
||||||
|
validator->set_equal_value_threshold(equal_value_count);
|
||||||
|
|
||||||
|
//put a bunch of values that are all different
|
||||||
|
for (int i = 0; i < total_iterations; i++, val += sufficient_incr_value) {
|
||||||
|
timestamp += timestamp_incr;
|
||||||
|
|
||||||
|
//up to a 50% random error rate appears to pass the error density filter
|
||||||
|
if ((((float)rand() / (float)RAND_MAX)) < 0.500f) {
|
||||||
|
error_count += 1;
|
||||||
|
expected_error_density += 1;
|
||||||
|
|
||||||
|
} else if (expected_error_density > 0) {
|
||||||
|
expected_error_density -= 1;
|
||||||
|
}
|
||||||
|
|
||||||
|
validator->put(timestamp, val, error_count, priority);
|
||||||
|
}
|
||||||
|
|
||||||
|
assert(validator->used());
|
||||||
|
//at this point, error_count should be less than NORETURN_ERRCOUNT
|
||||||
|
assert(validator->error_count() == error_count);
|
||||||
|
|
||||||
|
// we've just provided a bunch of valid data with some errors:
|
||||||
|
// confidence should be reduced by the number of errors
|
||||||
|
float conf = validator->confidence(timestamp);
|
||||||
|
printf("error_count: %u validator confidence: %f\n", (uint32_t)error_count, (double)conf);
|
||||||
|
assert(1.0f != conf); //we should not be fully confident
|
||||||
|
assert(0.0f != conf); //neither should we be completely unconfident
|
||||||
|
// should be no errors, even if confidence is reduced, since we didn't exceed NORETURN_ERRCOUNT
|
||||||
|
assert(0 == validator->state());
|
||||||
|
|
||||||
|
// the error density will reduce the confidence by 1 - (error_density / ERROR_DENSITY_WINDOW)
|
||||||
|
// ERROR_DENSITY_WINDOW is currently private, but == 100.0f
|
||||||
|
float reduced_conf = 1.0f - ((float)expected_error_density / 100.0f);
|
||||||
|
double diff = fabs(reduced_conf - conf);
|
||||||
|
|
||||||
|
if (reduced_conf != conf) {
|
||||||
|
printf("conf: %f reduced_conf: %f diff: %f\n",
|
||||||
|
(double)conf, (double)reduced_conf, diff);
|
||||||
|
dump_validator_state(validator);
|
||||||
|
}
|
||||||
|
|
||||||
|
assert(diff < 1E-6f);
|
||||||
|
|
||||||
|
//Now, insert a series of errors and ensure we trip the error detector
|
||||||
|
for (int i = 0; i < 250; i++, val += sufficient_incr_value) {
|
||||||
|
timestamp += timestamp_incr;
|
||||||
|
//100% error rate
|
||||||
|
error_count += 1;
|
||||||
|
expected_error_density += 1;
|
||||||
|
validator->put(timestamp, val, error_count, priority);
|
||||||
|
}
|
||||||
|
|
||||||
|
conf = validator->confidence(timestamp);
|
||||||
|
assert(0.0f == conf); // should we be completely unconfident
|
||||||
|
// we should have triggered the high error density detector
|
||||||
|
assert(DataValidator::ERROR_FLAG_HIGH_ERRDENSITY == (DataValidator::ERROR_FLAG_HIGH_ERRDENSITY & validator->state()));
|
||||||
|
|
||||||
|
|
||||||
|
validator->reset_state();
|
||||||
|
|
||||||
|
//Now insert so many errors that we exceed private NORETURN_ERRCOUNT
|
||||||
|
for (int i = 0; i < 10000; i++, val += sufficient_incr_value) {
|
||||||
|
timestamp += timestamp_incr;
|
||||||
|
//100% error rate
|
||||||
|
error_count += 1;
|
||||||
|
expected_error_density += 1;
|
||||||
|
validator->put(timestamp, val, error_count, priority);
|
||||||
|
}
|
||||||
|
|
||||||
|
conf = validator->confidence(timestamp);
|
||||||
|
assert(0.0f == conf); // should we be completely unconfident
|
||||||
|
// we should have triggered the high error count detector
|
||||||
|
assert(DataValidator::ERROR_FLAG_HIGH_ERRCOUNT == (DataValidator::ERROR_FLAG_HIGH_ERRCOUNT & validator->state()));
|
||||||
|
|
||||||
|
delete validator; //force delete
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
int main(int argc, char *argv[])
|
||||||
|
{
|
||||||
|
(void)argc; // unused
|
||||||
|
(void)argv; // unused
|
||||||
|
|
||||||
|
srand(666);
|
||||||
|
test_init();
|
||||||
|
test_put();
|
||||||
|
test_stale_detector();
|
||||||
|
test_rms_calculation();
|
||||||
|
test_error_tracking();
|
||||||
|
|
||||||
|
return 0; //passed
|
||||||
|
}
|
||||||
@@ -0,0 +1,385 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* Copyright (c) 2019 Todd Stellanova. 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 of the copyright holder 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 test_data_validator_group.cpp
|
||||||
|
* Testing the DataValidatorGroup class
|
||||||
|
*
|
||||||
|
* @author Todd Stellanova
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <stdint.h>
|
||||||
|
#include <cassert>
|
||||||
|
#include <cstdlib>
|
||||||
|
#include <stdio.h>
|
||||||
|
#include <math.h>
|
||||||
|
#include <validation/data_validator.h>
|
||||||
|
#include <validation/data_validator_group.h>
|
||||||
|
#include <validation/tests/tests_common.h>
|
||||||
|
|
||||||
|
|
||||||
|
const uint32_t base_timeout_usec = 2000;//from original private value
|
||||||
|
const int equal_value_count = 100; //default is private VALUE_EQUAL_COUNT_DEFAULT
|
||||||
|
const uint64_t base_timestamp = 666;
|
||||||
|
const unsigned base_num_siblings = 4;
|
||||||
|
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Initialize a DataValidatorGroup with some common settings;
|
||||||
|
* @param sibling_count (out) the number of siblings initialized
|
||||||
|
*/
|
||||||
|
DataValidatorGroup *setup_base_group(unsigned *sibling_count)
|
||||||
|
{
|
||||||
|
unsigned num_siblings = base_num_siblings;
|
||||||
|
|
||||||
|
DataValidatorGroup *group = new DataValidatorGroup(num_siblings);
|
||||||
|
assert(nullptr != group);
|
||||||
|
//verify that calling print doesn't crash the tests
|
||||||
|
group->print();
|
||||||
|
printf("\n");
|
||||||
|
|
||||||
|
//should be no failovers yet
|
||||||
|
assert(0 == group->failover_count());
|
||||||
|
assert(DataValidator::ERROR_FLAG_NO_ERROR == group->failover_state());
|
||||||
|
assert(-1 == group->failover_index());
|
||||||
|
|
||||||
|
//this sets the timeout on all current members of the group, as well as members added later
|
||||||
|
group->set_timeout(base_timeout_usec);
|
||||||
|
//the following sets the threshold on all CURRENT members of the group, but not any added later
|
||||||
|
//TODO This is likely a bug in DataValidatorGroup
|
||||||
|
group->set_equal_value_threshold(equal_value_count);
|
||||||
|
|
||||||
|
//return values
|
||||||
|
*sibling_count = num_siblings;
|
||||||
|
|
||||||
|
return group;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Fill one DataValidator with samples, by index.
|
||||||
|
*
|
||||||
|
* @param group
|
||||||
|
* @param val1_idx Index of the validator to fill with samples
|
||||||
|
* @param num_samples
|
||||||
|
*/
|
||||||
|
void fill_one_with_valid_data(DataValidatorGroup *group, int val1_idx, uint32_t num_samples)
|
||||||
|
{
|
||||||
|
uint64_t timestamp = base_timestamp;
|
||||||
|
uint64_t error_count = 0;
|
||||||
|
float last_best_val = 0.0f;
|
||||||
|
|
||||||
|
for (uint32_t i = 0; i < num_samples; i++) {
|
||||||
|
float val = ((float) rand() / (float) RAND_MAX);
|
||||||
|
float data[DataValidator::dimensions] = {val};
|
||||||
|
group->put(val1_idx, timestamp, data, error_count, 100);
|
||||||
|
last_best_val = val;
|
||||||
|
}
|
||||||
|
|
||||||
|
int best_idx = 0;
|
||||||
|
float *best_data = group->get_best(timestamp, &best_idx);
|
||||||
|
assert(last_best_val == best_data[0]);
|
||||||
|
assert(best_idx == val1_idx);
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Fill two validators in the group with samples, by index.
|
||||||
|
* Both validators will be filled with the same data, but
|
||||||
|
* the priority of the first validator will be higher than the second.
|
||||||
|
*
|
||||||
|
* @param group
|
||||||
|
* @param val1_idx index of the first validator to fill
|
||||||
|
* @param val2_idx index of the second validator to fill
|
||||||
|
* @param num_samples
|
||||||
|
*/
|
||||||
|
void fill_two_with_valid_data(DataValidatorGroup *group, int val1_idx, int val2_idx, uint32_t num_samples)
|
||||||
|
{
|
||||||
|
uint64_t timestamp = base_timestamp;
|
||||||
|
uint64_t error_count = 0;
|
||||||
|
float last_best_val = 0.0f;
|
||||||
|
|
||||||
|
for (uint32_t i = 0; i < num_samples; i++) {
|
||||||
|
float val = ((float) rand() / (float) RAND_MAX);
|
||||||
|
float data[DataValidator::dimensions] = {val};
|
||||||
|
//two sensors with identical values, but different priorities
|
||||||
|
group->put(val1_idx, timestamp, data, error_count, 100);
|
||||||
|
group->put(val2_idx, timestamp, data, error_count, 10);
|
||||||
|
last_best_val = val;
|
||||||
|
}
|
||||||
|
|
||||||
|
int best_idx = 0;
|
||||||
|
float *best_data = group->get_best(timestamp, &best_idx);
|
||||||
|
assert(last_best_val == best_data[0]);
|
||||||
|
assert(best_idx == val1_idx);
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Dynamically add a validator to the group after construction
|
||||||
|
* @param group
|
||||||
|
* @return
|
||||||
|
*/
|
||||||
|
DataValidator *add_validator_to_group(DataValidatorGroup *group)
|
||||||
|
{
|
||||||
|
DataValidator *validator = group->add_new_validator();
|
||||||
|
//verify the previously set timeout applies to the new group member
|
||||||
|
assert(validator->get_timeout() == base_timeout_usec);
|
||||||
|
//for testing purposes, ensure this newly added member is consistent with the rest of the group
|
||||||
|
//TODO this is likely a bug in DataValidatorGroup
|
||||||
|
validator->set_equal_value_threshold(equal_value_count);
|
||||||
|
|
||||||
|
return validator;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Create a DataValidatorGroup and tack on two additional DataValidators
|
||||||
|
*
|
||||||
|
* @param validator1_handle (out) first DataValidator added to the group
|
||||||
|
* @param validator2_handle (out) second DataValidator added to the group
|
||||||
|
* @param sibling_count (in/out) in: number of initial siblings to create, out: total
|
||||||
|
* @return
|
||||||
|
*/
|
||||||
|
DataValidatorGroup *setup_group_with_two_validator_handles(
|
||||||
|
DataValidator **validator1_handle,
|
||||||
|
DataValidator **validator2_handle,
|
||||||
|
unsigned *sibling_count)
|
||||||
|
{
|
||||||
|
DataValidatorGroup *group = setup_base_group(sibling_count);
|
||||||
|
|
||||||
|
//now we add validators
|
||||||
|
*validator1_handle = add_validator_to_group(group);
|
||||||
|
*validator2_handle = add_validator_to_group(group);
|
||||||
|
*sibling_count += 2;
|
||||||
|
|
||||||
|
return group;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
void test_init()
|
||||||
|
{
|
||||||
|
unsigned num_siblings = 0;
|
||||||
|
|
||||||
|
DataValidatorGroup *group = setup_base_group(&num_siblings);
|
||||||
|
|
||||||
|
//should not yet be any best value
|
||||||
|
int best_index = -1;
|
||||||
|
assert(nullptr == group->get_best(base_timestamp, &best_index));
|
||||||
|
|
||||||
|
delete group; //force cleanup
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Happy path test of put method -- ensure the "best" sensor selected is the one with highest priority
|
||||||
|
*/
|
||||||
|
void test_put()
|
||||||
|
{
|
||||||
|
unsigned num_siblings = 0;
|
||||||
|
DataValidator *validator1 = nullptr;
|
||||||
|
DataValidator *validator2 = nullptr;
|
||||||
|
|
||||||
|
uint64_t timestamp = base_timestamp;
|
||||||
|
|
||||||
|
DataValidatorGroup *group = setup_group_with_two_validator_handles(&validator1, &validator2, &num_siblings);
|
||||||
|
printf("num_siblings: %d \n", num_siblings);
|
||||||
|
unsigned val1_idx = num_siblings - 2;
|
||||||
|
unsigned val2_idx = num_siblings - 1;
|
||||||
|
|
||||||
|
fill_two_with_valid_data(group, val1_idx, val2_idx, 500);
|
||||||
|
int best_idx = -1;
|
||||||
|
float *best_data = group->get_best(timestamp, &best_idx);
|
||||||
|
assert(nullptr != best_data);
|
||||||
|
float best_val = best_data[0];
|
||||||
|
|
||||||
|
float *cur_val1 = validator1->value();
|
||||||
|
assert(nullptr != cur_val1);
|
||||||
|
//printf("cur_val1 %p \n", cur_val1);
|
||||||
|
assert(best_val == cur_val1[0]);
|
||||||
|
|
||||||
|
float *cur_val2 = validator2->value();
|
||||||
|
assert(nullptr != cur_val2);
|
||||||
|
//printf("cur_val12 %p \n", cur_val2);
|
||||||
|
assert(best_val == cur_val2[0]);
|
||||||
|
|
||||||
|
delete group; //force cleanup
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Verify that the DataValidatorGroup will select the sensor with the latest higher priority as "best".
|
||||||
|
*/
|
||||||
|
void test_priority_switch()
|
||||||
|
{
|
||||||
|
unsigned num_siblings = 0;
|
||||||
|
DataValidator *validator1 = nullptr;
|
||||||
|
DataValidator *validator2 = nullptr;
|
||||||
|
|
||||||
|
uint64_t timestamp = base_timestamp;
|
||||||
|
|
||||||
|
DataValidatorGroup *group = setup_group_with_two_validator_handles(&validator1, &validator2, &num_siblings);
|
||||||
|
//printf("num_siblings: %d \n",num_siblings);
|
||||||
|
int val1_idx = (int)num_siblings - 2;
|
||||||
|
int val2_idx = (int)num_siblings - 1;
|
||||||
|
uint64_t error_count = 0;
|
||||||
|
|
||||||
|
fill_two_with_valid_data(group, val1_idx, val2_idx, 100);
|
||||||
|
|
||||||
|
int best_idx = -1;
|
||||||
|
float *best_data = nullptr;
|
||||||
|
//now, switch the priorities, which switches "best" but doesn't trigger a failover
|
||||||
|
float new_best_val = 3.14159f;
|
||||||
|
float data[DataValidator::dimensions] = {new_best_val};
|
||||||
|
//a single sample insertion should be sufficient to trigger a priority switch
|
||||||
|
group->put(val1_idx, timestamp, data, error_count, 1);
|
||||||
|
group->put(val2_idx, timestamp, data, error_count, 100);
|
||||||
|
best_data = group->get_best(timestamp, &best_idx);
|
||||||
|
assert(new_best_val == best_data[0]);
|
||||||
|
//the new best sensor should now be the sensor with the higher priority
|
||||||
|
assert(best_idx == val2_idx);
|
||||||
|
//should not have detected a real failover
|
||||||
|
assert(0 == group->failover_count());
|
||||||
|
|
||||||
|
delete group; //cleanup
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Verify that the DataGroupValidator will prefer a sensor with no errors over a sensor with high errors
|
||||||
|
*/
|
||||||
|
void test_simple_failover()
|
||||||
|
{
|
||||||
|
unsigned num_siblings = 0;
|
||||||
|
DataValidator *validator1 = nullptr;
|
||||||
|
DataValidator *validator2 = nullptr;
|
||||||
|
|
||||||
|
uint64_t timestamp = base_timestamp;
|
||||||
|
|
||||||
|
DataValidatorGroup *group = setup_group_with_two_validator_handles(&validator1, &validator2, &num_siblings);
|
||||||
|
//printf("num_siblings: %d \n",num_siblings);
|
||||||
|
int val1_idx = (int)num_siblings - 2;
|
||||||
|
int val2_idx = (int)num_siblings - 1;
|
||||||
|
|
||||||
|
|
||||||
|
fill_two_with_valid_data(group, val1_idx, val2_idx, 100);
|
||||||
|
|
||||||
|
int best_idx = -1;
|
||||||
|
float *best_data = nullptr;
|
||||||
|
|
||||||
|
//trigger a real failover
|
||||||
|
float new_best_val = 3.14159f;
|
||||||
|
float data[DataValidator::dimensions] = {new_best_val};
|
||||||
|
//trigger a bunch of errors on the previous best sensor
|
||||||
|
unsigned val1_err_count = 0;
|
||||||
|
|
||||||
|
for (int i = 0; i < 25; i++) {
|
||||||
|
group->put(val1_idx, timestamp, data, ++val1_err_count, 100);
|
||||||
|
group->put(val2_idx, timestamp, data, 0, 10);
|
||||||
|
}
|
||||||
|
|
||||||
|
assert(validator1->error_count() == val1_err_count);
|
||||||
|
|
||||||
|
//since validator1 is experiencing errors, we should see a failover to validator2
|
||||||
|
best_data = group->get_best(timestamp + 1, &best_idx);
|
||||||
|
assert(nullptr != best_data);
|
||||||
|
assert(new_best_val == best_data[0]);
|
||||||
|
assert(best_idx == val2_idx);
|
||||||
|
//should have detected a real failover
|
||||||
|
printf("failover_count: %d \n", group->failover_count());
|
||||||
|
assert(1 == group->failover_count());
|
||||||
|
|
||||||
|
//even though validator1 has encountered a bunch of errors, it hasn't failed
|
||||||
|
assert(DataValidator::ERROR_FLAG_NO_ERROR == validator1->state());
|
||||||
|
|
||||||
|
// although we failed over from one sensor to another, this is not the same thing tracked by failover_index
|
||||||
|
int fail_idx = group->failover_index();
|
||||||
|
assert(-1 == fail_idx);//no failed sensor
|
||||||
|
|
||||||
|
//since no sensor has actually hard-failed, the group failover state is NO_ERROR
|
||||||
|
assert(DataValidator::ERROR_FLAG_NO_ERROR == group->failover_state());
|
||||||
|
|
||||||
|
|
||||||
|
delete group; //cleanup
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Force once sensor to fail and ensure that we detect it
|
||||||
|
*/
|
||||||
|
void test_sensor_failure()
|
||||||
|
{
|
||||||
|
unsigned num_siblings = 0;
|
||||||
|
uint64_t timestamp = base_timestamp;
|
||||||
|
const float sufficient_incr_value = (1.1f * 1E-6f);
|
||||||
|
const uint32_t timeout_usec = 2000;//derived from class-private value
|
||||||
|
|
||||||
|
float val = 3.14159f;
|
||||||
|
|
||||||
|
DataValidatorGroup *group = setup_base_group(&num_siblings);
|
||||||
|
|
||||||
|
//now we add validators
|
||||||
|
DataValidator *validator = add_validator_to_group(group);
|
||||||
|
assert(nullptr != validator);
|
||||||
|
num_siblings++;
|
||||||
|
int val_idx = num_siblings - 1;
|
||||||
|
|
||||||
|
fill_validator_with_samples(validator, sufficient_incr_value, &val, ×tamp);
|
||||||
|
//the best should now be the one validator we've filled with samples
|
||||||
|
|
||||||
|
int best_idx = -1;
|
||||||
|
float *best_data = group->get_best(timestamp, &best_idx);
|
||||||
|
assert(nullptr != best_data);
|
||||||
|
//printf("best_idx: %d val_idx: %d\n", best_idx, val_idx);
|
||||||
|
assert(best_idx == val_idx);
|
||||||
|
|
||||||
|
//now force a timeout failure in the one validator, by checking confidence long past timeout
|
||||||
|
validator->confidence(timestamp + (1.1 * timeout_usec));
|
||||||
|
assert(DataValidator::ERROR_FLAG_TIMEOUT == (DataValidator::ERROR_FLAG_TIMEOUT & validator->state()));
|
||||||
|
|
||||||
|
//now that the one sensor has failed, the group should detect this as well
|
||||||
|
int fail_idx = group->failover_index();
|
||||||
|
assert(val_idx == fail_idx);
|
||||||
|
|
||||||
|
delete group;
|
||||||
|
}
|
||||||
|
|
||||||
|
int main(int argc, char *argv[])
|
||||||
|
{
|
||||||
|
(void)argc; // unused
|
||||||
|
(void)argv; // unused
|
||||||
|
|
||||||
|
test_init();
|
||||||
|
test_put();
|
||||||
|
test_simple_failover();
|
||||||
|
test_priority_switch();
|
||||||
|
test_sensor_failure();
|
||||||
|
|
||||||
|
return 0; //passed
|
||||||
|
}
|
||||||
@@ -0,0 +1,103 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* Copyright (c) 2019 Todd Stellanova. 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 of the copyright holder 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.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
#include <stdio.h>
|
||||||
|
#include "tests_common.h"
|
||||||
|
|
||||||
|
|
||||||
|
void insert_values_around_mean(DataValidator *validator, const float mean, uint32_t count, float *rms_err,
|
||||||
|
uint64_t *timestamp_io)
|
||||||
|
{
|
||||||
|
uint64_t timestamp = *timestamp_io;
|
||||||
|
uint64_t timestamp_incr = 5;
|
||||||
|
const uint64_t error_count = 0;
|
||||||
|
const int priority = 50;
|
||||||
|
const float swing = 1E-2f;
|
||||||
|
double sum_dev_squares = 0.0f;
|
||||||
|
|
||||||
|
//insert a series of values that swing around the mean
|
||||||
|
for (uint32_t i = 0; i < count; i++) {
|
||||||
|
float iter_swing = (0 == (i % 2)) ? swing : -swing;
|
||||||
|
float iter_val = mean + iter_swing;
|
||||||
|
float iter_dev = iter_val - mean;
|
||||||
|
sum_dev_squares += (iter_dev * iter_dev);
|
||||||
|
timestamp += timestamp_incr;
|
||||||
|
validator->put(timestamp, iter_val, error_count, priority);
|
||||||
|
}
|
||||||
|
|
||||||
|
double rms = sqrt(sum_dev_squares / (double)count);
|
||||||
|
//note: this should be approximately equal to "swing"
|
||||||
|
*rms_err = (float)rms;
|
||||||
|
*timestamp_io = timestamp;
|
||||||
|
}
|
||||||
|
|
||||||
|
void dump_validator_state(DataValidator *validator)
|
||||||
|
{
|
||||||
|
uint32_t state = validator->state();
|
||||||
|
printf("state: 0x%x no_data: %d stale: %d timeout:%d\n",
|
||||||
|
validator->state(),
|
||||||
|
DataValidator::ERROR_FLAG_NO_DATA & state,
|
||||||
|
DataValidator::ERROR_FLAG_STALE_DATA & state,
|
||||||
|
DataValidator::ERROR_FLAG_TIMEOUT & state
|
||||||
|
);
|
||||||
|
validator->print();
|
||||||
|
printf("\n");
|
||||||
|
}
|
||||||
|
|
||||||
|
void fill_validator_with_samples(DataValidator *validator,
|
||||||
|
const float incr_value,
|
||||||
|
float *value_io,
|
||||||
|
uint64_t *timestamp_io)
|
||||||
|
{
|
||||||
|
uint64_t timestamp = *timestamp_io;
|
||||||
|
const uint64_t timestamp_incr = 5; //usec
|
||||||
|
const uint32_t timeout_usec = 2000;//derived from class-private value
|
||||||
|
|
||||||
|
float val = *value_io;
|
||||||
|
const uint64_t error_count = 0;
|
||||||
|
const int priority = 50; //"medium" priority
|
||||||
|
const int equal_value_count = 100; //default is private VALUE_EQUAL_COUNT_DEFAULT
|
||||||
|
|
||||||
|
validator->set_equal_value_threshold(equal_value_count);
|
||||||
|
validator->set_timeout(timeout_usec);
|
||||||
|
|
||||||
|
//put a bunch of values that are all different
|
||||||
|
for (int i = 0; i < equal_value_count; i++, val += incr_value) {
|
||||||
|
timestamp += timestamp_incr;
|
||||||
|
validator->put(timestamp, val, error_count, priority);
|
||||||
|
}
|
||||||
|
|
||||||
|
*timestamp_io = timestamp;
|
||||||
|
*value_io = val;
|
||||||
|
|
||||||
|
}
|
||||||
@@ -0,0 +1,68 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* Copyright (c) 2019 Todd Stellanova. 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 of the copyright holder 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.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
#ifndef ECL_TESTS_COMMON_H
|
||||||
|
#define ECL_TESTS_COMMON_H
|
||||||
|
|
||||||
|
#include <validation/data_validator.h>
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Insert a series of samples around a mean value
|
||||||
|
* @param validator The validator under test
|
||||||
|
* @param mean The mean value
|
||||||
|
* @param count The number of samples to insert in the validator
|
||||||
|
* @param rms_err (out) calculated rms error of the inserted samples
|
||||||
|
* @param timestamp_io (in/out) in: start timestamp, out: last timestamp
|
||||||
|
*/
|
||||||
|
void insert_values_around_mean(DataValidator *validator, const float mean, uint32_t count, float *rms_err,
|
||||||
|
uint64_t *timestamp_io);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Print out the state of a DataValidator
|
||||||
|
* @param validator
|
||||||
|
*/
|
||||||
|
void dump_validator_state(DataValidator *validator);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Insert a time series of samples into the validator
|
||||||
|
* @param validator
|
||||||
|
* @param incr_value The amount to increment the value by on each iteration
|
||||||
|
* @param value_io (in/out) in: initial value, out: final value
|
||||||
|
* @param timestamp_io (in/out) in: initial timestamp, out: final timestamp
|
||||||
|
*/
|
||||||
|
void fill_validator_with_samples(DataValidator *validator,
|
||||||
|
const float incr_value,
|
||||||
|
float *value_io,
|
||||||
|
uint64_t *timestamp_io);
|
||||||
|
|
||||||
|
#endif //ECL_TESTS_COMMON_H
|
||||||
@@ -33,7 +33,8 @@
|
|||||||
|
|
||||||
#pragma once
|
#pragma once
|
||||||
|
|
||||||
#include <lib/ecl/validation/data_validator_group.h>
|
#include "data_validator/DataValidatorGroup.hpp"
|
||||||
|
|
||||||
#include <lib/mathlib/math/Limits.hpp>
|
#include <lib/mathlib/math/Limits.hpp>
|
||||||
#include <lib/matrix/matrix/math.hpp>
|
#include <lib/matrix/matrix/math.hpp>
|
||||||
#include <lib/perf/perf_counter.h>
|
#include <lib/perf/perf_counter.h>
|
||||||
|
|||||||
@@ -41,14 +41,15 @@
|
|||||||
|
|
||||||
#include "parameters.h"
|
#include "parameters.h"
|
||||||
|
|
||||||
|
#include "data_validator/DataValidator.hpp"
|
||||||
|
#include "data_validator/DataValidatorGroup.hpp"
|
||||||
|
|
||||||
#include <drivers/drv_mag.h>
|
#include <drivers/drv_mag.h>
|
||||||
#include <drivers/drv_hrt.h>
|
#include <drivers/drv_hrt.h>
|
||||||
|
|
||||||
#include <mathlib/mathlib.h>
|
#include <mathlib/mathlib.h>
|
||||||
#include <matrix/math.hpp>
|
#include <matrix/math.hpp>
|
||||||
|
|
||||||
#include <lib/ecl/validation/data_validator.h>
|
|
||||||
#include <lib/ecl/validation/data_validator_group.h>
|
|
||||||
#include <lib/mag_compensation/MagCompensation.hpp>
|
#include <lib/mag_compensation/MagCompensation.hpp>
|
||||||
|
|
||||||
#include <uORB/Publication.hpp>
|
#include <uORB/Publication.hpp>
|
||||||
|
|||||||
Reference in New Issue
Block a user