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AP_Airspeed: convert the defines into static consts

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- also perform logging at end of update
- convert Options Mask into an enum
This commit is contained in:
Tom Pittenger 2019-01-29 18:02:40 -08:00 committed by Tom Pittenger
parent d77906cb06
commit 1a04a540f5
3 changed files with 108 additions and 99 deletions
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105
libraries/AP_Airspeed/AP_Airspeed.cpp
View File

@ -134,7 +134,7 @@ const AP_Param::GroupInfo AP_Airspeed::var_info[] = {
// @Description: Bitmask of options to use with airspeed.
// @Bitmask: 0:Disable on sensor failure,1:Re-enable on sensor recovery
// @User: Advanced
AP_GROUPINFO("_OPTIONS", 21, AP_Airspeed, _options, AP_AIRSPEED_OPTIONS_DEFAULT),
AP_GROUPINFO("_OPTIONS", 21, AP_Airspeed, _options, 0),
// @Param: 2_TYPE
// @DisplayName: Second Airspeed type
@ -439,31 +439,26 @@ void AP_Airspeed::update(bool log)
}
#endif
// setup primary
if (healthy(primary_sensor.get())) {
primary = primary_sensor.get();
} else {
for (uint8_t i=0; i<AIRSPEED_MAX_SENSORS; i++) {
if (healthy(i)) {
primary = i;
break;
}
}
}
check_sensor_failures();
if (log) {
AP_Logger *_dataflash = AP_Logger::instance();
if (_dataflash != nullptr) {
_dataflash->Write_Airspeed(*this);
}
}
// check for a sensor failure and perform sensor failsafe and recovery if enabled
if ((AP_AIRSPEED_OPTIONS_FAILURE_MASK_DISABLE | AP_AIRSPEED_OPTIONS_FAILURE_MASK_REENABLE) & _options) {
for (uint8_t i=0; i<AIRSPEED_MAX_SENSORS; i++) {
check_sensor_failures(i);
}
}
// setup primary
if (healthy(primary_sensor.get())) {
primary = primary_sensor.get();
return;
}
for (uint8_t i=0; i<AIRSPEED_MAX_SENSORS; i++) {
if (healthy(i)) {
primary = i;
break;
}
}
}
void AP_Airspeed::setHIL(float airspeed, float diff_pressure, float temperature)
@ -504,75 +499,5 @@ bool AP_Airspeed::all_healthy(void) const
return true;
}
void AP_Airspeed::check_sensor_failures(uint8_t i)
{
const uint32_t now_ms = AP_HAL::millis();
if ((now_ms - state[i].failures.last_check_ms) <= AP_AIRSPEED_OPTIONS_FAILURE_SAMPLE_PERIOD_MS) {
// slow the checking rate
return;
}
const float aspeed = get_airspeed();
const float wind_max = AP::ahrs().get_max_wind();
if (aspeed <= 0 || wind_max <= 0) {
// invalid estimates
return;
}
state[i].failures.last_check_ms = now_ms;
// update state[i].failures.health_probability via LowPassFilter
if (AP::gps().status() >= AP_GPS::GPS_OK_FIX_2D) {
const float gnd_speed = AP::gps().ground_speed();
if (aspeed > (gnd_speed + wind_max) || aspeed < (gnd_speed - wind_max)) {
// bad, decay fast
const float probability_coeff = 0.90f;
//state[i].failures.health_probability = probability_coeff*state[i].failures.health_probability + (1.0f-probability_coeff)*0.0f;
state[i].failures.health_probability = probability_coeff*state[i].failures.health_probability; // equivalent
} else if (aspeed < (gnd_speed + wind_max) && aspeed > (gnd_speed - wind_max)) {
// 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
// if "disable" option is allowed and sensor is enabled
if (param[i].use > 0 && (AP_AIRSPEED_OPTIONS_FAILURE_MASK_DISABLE & _options)) {
// and is probably not healthy
if (state[i].failures.health_probability < AP_AIRSPEED_OPTIONS_FAILURE_DISABLE_PROB_THRESH_CRIT) {
gcs().send_text(MAV_SEVERITY_WARNING, "Airspeed sensor %d fault - AHRS_WIND_MAX exceeded. Disabled", i+1);
state[i].failures.param_use_backup = param[i].use;
param[i].use.set_and_notify(0);
state[i].healthy = false;
// and is probably getting close to not healthy
} else if ((state[i].failures.health_probability < AP_AIRSPEED_OPTIONS_FAILURE_DISABLE_PROB_THRESH_WARN) && !state[i].failures.has_warned) {
state[i].failures.has_warned = true;
gcs().send_text(MAV_SEVERITY_WARNING, "Airspeed sensor %d warning - AHRS_WIND_MAX exceeded", i+1);
} else if (state[i].failures.health_probability > AP_AIRSPEED_OPTIONS_FAILURE_RE_ENABLE_PROB_THRESH_OK) {
state[i].failures.has_warned = false;
}
// if Re-Enable options is allowed, and sensor is disabled but was previously enabled, and is probably healthy
} else if (param[i].use == 0 &&
(AP_AIRSPEED_OPTIONS_FAILURE_MASK_REENABLE & _options) &&
state[i].failures.param_use_backup > 0 &&
state[i].failures.health_probability > AP_AIRSPEED_OPTIONS_FAILURE_RE_ENABLE_PROB_THRESH_OK) {
gcs().send_text(MAV_SEVERITY_WARNING, "Airspeed sensor %d fault cleared. 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
state[i].failures.has_warned = false;
}
}
// singleton instance
AP_Airspeed *AP_Airspeed::_singleton;

16
libraries/AP_Airspeed/AP_Airspeed.h
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@ -10,15 +10,6 @@ class AP_Airspeed_Backend;
#define AIRSPEED_MAX_SENSORS 2
// Bitmask for airspeed options
#define AP_AIRSPEED_OPTIONS_DEFAULT 0 // No options on by default
#define AP_AIRSPEED_OPTIONS_FAILURE_MASK_DISABLE (1<<0) // If set then use airspeed failure check
#define AP_AIRSPEED_OPTIONS_FAILURE_MASK_REENABLE (1<<1) // If set then automatically enable the airspeed sensor use when healthy again.
#define AP_AIRSPEED_OPTIONS_FAILURE_SAMPLE_PERIOD_MS 200 // Check the status every 200ms
#define AP_AIRSPEED_OPTIONS_FAILURE_DISABLE_PROB_THRESH_CRIT 0.1f
#define AP_AIRSPEED_OPTIONS_FAILURE_DISABLE_PROB_THRESH_WARN 0.5f
#define AP_AIRSPEED_OPTIONS_FAILURE_RE_ENABLE_PROB_THRESH_OK 0.9f
class Airspeed_Calibration {
public:
friend class AP_Airspeed;
@ -163,6 +154,11 @@ public:
PITOT_TUBE_ORDER_NEGATIVE = 1,
PITOT_TUBE_ORDER_AUTO = 2 };
enum OptionsMask {
ON_FAILURE_DO_DISABLE = (1<<0), // If set then use airspeed failure check
ON_FAILURE_RECOVERY_DO_REENABLE = (1<<1), // If set then automatically enable the airspeed sensor use when healthy again.
};
enum airspeed_type {
TYPE_NONE=0,
TYPE_I2C_MS4525=1,
@ -241,6 +237,8 @@ private:
float get_pressure(uint8_t i);
void update_calibration(uint8_t i, float raw_pressure);
void update_calibration(uint8_t i, const Vector3f &vground, int16_t max_airspeed_allowed_during_cal);
void check_sensor_failures();
void check_sensor_failures(uint8_t i);
AP_Airspeed_Backend *sensor[AIRSPEED_MAX_SENSORS];

86
libraries/AP_Airspeed/AP_Airspeed_Health.cpp Normal file
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@ -0,0 +1,86 @@
#include <AP_Common/AP_Common.h>
#include <GCS_MAVLink/GCS.h>
#include <AP_Math/AP_Math.h>
#include "AP_Airspeed.h"
void AP_Airspeed::check_sensor_failures()
{
for (uint8_t i=0; i<AIRSPEED_MAX_SENSORS; i++) {
check_sensor_failures(i);
}
}
void AP_Airspeed::check_sensor_failures(uint8_t i)
{
const uint32_t now_ms = AP_HAL::millis();
if ((now_ms - state[i].failures.last_check_ms) <= 200) {
// slow the checking rate
return;
}
const float aspeed = get_airspeed();
const float wind_max = AP::ahrs().get_max_wind();
if (aspeed <= 0 || wind_max <= 0) {
// invalid estimates
return;
}
state[i].failures.last_check_ms = now_ms;
// update state[i].failures.health_probability via LowPassFilter
float speed_accuracy;
if (AP::gps().speed_accuracy(speed_accuracy)) {
const float gnd_speed = AP::gps().ground_speed();
if (aspeed > (gnd_speed + wind_max) || aspeed < (gnd_speed - wind_max)) {
// bad, decay fast
const float probability_coeff = 0.90f;
//state[i].failures.health_probability = probability_coeff*state[i].failures.health_probability + (1.0f-probability_coeff)*0.0f;
state[i].failures.health_probability = probability_coeff*state[i].failures.health_probability; // equivalent
} else if (aspeed < (gnd_speed + wind_max) && aspeed > (gnd_speed - wind_max)) {
// 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 DISABLE_PROB_THRESH_WARN = 0.5f;
static const float RE_ENABLE_PROB_THRESH_OK = 0.95f;
// if "disable" option is allowed and sensor is enabled
if (param[i].use > 0 && (AP_Airspeed::OptionsMask::ON_FAILURE_DO_DISABLE & _options)) {
// and is probably not healthy
if (state[i].failures.health_probability < DISABLE_PROB_THRESH_CRIT) {
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;
// and is probably getting close to not healthy
} else if ((state[i].failures.health_probability < DISABLE_PROB_THRESH_WARN) && !state[i].failures.has_warned) {
state[i].failures.has_warned = true;
gcs().send_text(MAV_SEVERITY_WARNING, "Airspeed sensor %d warning", i+1);
} else if (state[i].failures.health_probability > RE_ENABLE_PROB_THRESH_OK) {
state[i].failures.has_warned = false;
}
// if Re-Enable options is allowed, and sensor is disabled but was previously enabled, and is probably healthy
} else if (param[i].use == 0 &&
(AP_Airspeed::OptionsMask::ON_FAILURE_RECOVERY_DO_REENABLE & _options) &&
state[i].failures.param_use_backup > 0 &&
state[i].failures.health_probability > RE_ENABLE_PROB_THRESH_OK) {
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
state[i].failures.has_warned = false;
}
}