ardupilot/libraries/AP_Airspeed/AP_Airspeed_Health.cpp

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#include "AP_Airspeed.h"
#include <AP_Common/AP_Common.h>
#include <AP_GPS/AP_GPS.h>
#include <AP_Math/AP_Math.h>
#include <GCS_MAVLink/GCS.h>
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Logger/AP_Logger.h>
void AP_Airspeed::check_sensor_failures()
{
#ifndef HAL_BUILD_AP_PERIPH
for (uint8_t i=0; i<AIRSPEED_MAX_SENSORS; i++) {
check_sensor_ahrs_wind_max_failures(i);
}
#endif
}
void AP_Airspeed::check_sensor_ahrs_wind_max_failures(uint8_t i)
{
#ifndef HAL_BUILD_AP_PERIPH
const uint32_t now_ms = AP_HAL::millis();
if ((now_ms - state[i].failures.last_check_ms) <= 200) {
// slow the checking rate
return;
}
state[i].failures.last_check_ms = now_ms;
if (!is_positive(_wind_max) && !is_positive(_wind_gate)) {
// nothing to do
return;
}
if (state[i].airspeed <= 0) {
// invalid estimate
return;
}
const AP_GPS &gps = AP::gps();
if (gps.status() < AP_GPS::GPS_Status::GPS_OK_FIX_3D) {
// GPS speed can't be trusted, re-enable airspeed as a fallback
if ((param[i].use == 0) && (state[i].failures.param_use_backup == 1)) {
GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "Airspeed sensor %d, Re-enabled as GPS fall-back", i+1);
param[i].use.set_and_notify(state[i].failures.param_use_backup);
state[i].failures.param_use_backup = -1;
}
return;
}
// check for airspeed consistent with wind and vehicle velocity using the EKF
uint32_t age_ms;
float innovation, innovationVariance;
if (AP::ahrs().airspeed_health_data(innovation, innovationVariance, age_ms) && age_ms < 1000 && is_positive(innovationVariance)) {
state[i].failures.test_ratio = fabsf(innovation) / safe_sqrt(innovationVariance);
} else {
state[i].failures.test_ratio = 0.0f;
}
bool data_is_inconsistent = false;
if (is_positive(_wind_gate) && (AP_Airspeed::OptionsMask::USE_EKF_CONSISTENCY & _options) != 0) {
float gate_size = MAX(_wind_gate, 0.0f);
if (param[i].use == 0) {
// require a smaller inconsistency for a disabled sensor to be declared consistent
gate_size *= 0.7f;
}
data_is_inconsistent = state[i].failures.test_ratio > gate_size;
}
const float speed_diff = fabsf(state[i].airspeed-gps.ground_speed());
const bool data_is_implausible = is_positive(_wind_max) && speed_diff > _wind_max;
// update health_probability with LowPassFilter
if (data_is_implausible || data_is_inconsistent) {
// bad, decay fast
const float probability_coeff = 0.90f;
state[i].failures.health_probability = probability_coeff*state[i].failures.health_probability;
} else if (!data_is_implausible && !data_is_inconsistent) {
// good, grow slow
const float probability_coeff = 0.98f;
state[i].failures.health_probability = probability_coeff*state[i].failures.health_probability + (1.0f-probability_coeff)*1.0f;
}
// Now check if we need to disable or enable the sensor
// here are some probability thresholds
static const float DISABLE_PROB_THRESH_CRIT = 0.1f;
static const float RE_ENABLE_PROB_THRESH_OK = 0.95f;
if (param[i].use > 0) {
if (((AP_Airspeed::OptionsMask::ON_FAILURE_AHRS_WIND_MAX_DO_DISABLE & _options) != 0) &&
(state[i].failures.health_probability < DISABLE_PROB_THRESH_CRIT)) {
// if "disable" option is allowed and sensor is enabled and is probably not healthy
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GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "Airspeed sensor %d failure. Disabling", i+1);
state[i].failures.param_use_backup = param[i].use;
param[i].use.set_and_notify(0);
state[i].healthy = false;
}
// Warn if necessary
// set warn to max if not set or larger than max
float wind_warn = _wind_warn;
if ((!is_positive(wind_warn) || (wind_warn > _wind_max)) && is_positive(_wind_max)) {
wind_warn = _wind_max;
}
if (is_positive(wind_warn) && (speed_diff > wind_warn) && ((now_ms - state[i].failures.last_warn_ms) > 15000)) {
state[i].failures.last_warn_ms = now_ms;
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Airspeed %d warning %0.1fm/s air to gnd speed diff", i+1, speed_diff);
}
// if Re-Enable options is allowed, and sensor is disabled but was previously enabled, and is probably healthy
} else if (((AP_Airspeed::OptionsMask::ON_FAILURE_AHRS_WIND_MAX_RECOVERY_DO_REENABLE & _options) != 0) &&
(state[i].failures.param_use_backup > 0) &&
(state[i].failures.health_probability > RE_ENABLE_PROB_THRESH_OK)) {
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GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "Airspeed sensor %d now OK. Re-enabled", i+1);
param[i].use.set_and_notify(state[i].failures.param_use_backup); // resume
state[i].failures.param_use_backup = -1; // set to invalid so we don't use it
}
#endif // HAL_BUILD_AP_PERIPH
}