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AP_Airspeed: add dedicated MAX_WIND param

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Iampete1 2020-10-09 13:38:25 +01:00 committed by Andrew Tridgell
parent d7e8ad1c13
commit 662d4640ef
3 changed files with 85 additions and 47 deletions
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37
libraries/AP_Airspeed/AP_Airspeed.cpp
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@ -69,6 +69,8 @@ extern const AP_HAL::HAL &hal;
#define PSI_RANGE_DEFAULT 1.0f
#endif
#define OPTIONS_DEFAULT AP_Airspeed::OptionsMask::ON_FAILURE_AHRS_WIND_MAX_DO_DISABLE | AP_Airspeed::OptionsMask::ON_FAILURE_AHRS_WIND_MAX_RECOVERY_DO_REENABLE
// table of user settable parameters
const AP_Param::GroupInfo AP_Airspeed::var_info[] = {
@ -158,10 +160,24 @@ const AP_Param::GroupInfo AP_Airspeed::var_info[] = {
#ifndef HAL_BUILD_AP_PERIPH
// @Param: _OPTIONS
// @DisplayName: Airspeed options bitmask
// @Description: Bitmask of options to use with airspeed.
// @Bitmask: 0:Disable on sensor failure,1:Re-enable on sensor recovery
// @Description: Bitmask of options to use with airspeed. Disable and/or re-enable sensor based on the difference between airspeed and ground speed based on ARSPD_WIND_MAX threshold, if set
// @Bitmask: 0:Disable sensor, 1:Re-enable sensor
// @User: Advanced
AP_GROUPINFO("_OPTIONS", 21, AP_Airspeed, _options, 0),
AP_GROUPINFO("_OPTIONS", 21, AP_Airspeed, _options, OPTIONS_DEFAULT),
// @Param: _WIND_MAX
// @DisplayName: Maximum airspeed and ground speed difference
// @Description: If the difference between airspeed and ground speed is greater than this value the sensor will be marked unhealthy. Using ARSPD_OPTION this health value can be used to disable the sensor.
// @Units: m/s
// @User: Advanced
AP_GROUPINFO("_WIND_MAX", 22, AP_Airspeed, _wind_max, 0),
// @Param: _WIND_WARN
// @DisplayName: Airspeed and ground speed difference that gives a warning
// @Description: If the difference between airspeed and ground speed is greater than this value the sensor will issue a warning. If 0 ARSPD_WIND_MAX is used.
// @Units: m/s
// @User: Advanced
AP_GROUPINFO("_WIND_WARN", 23, AP_Airspeed, _wind_warn, 0),
#endif
#if AIRSPEED_MAX_SENSORS > 1
@ -232,7 +248,7 @@ const AP_Param::GroupInfo AP_Airspeed::var_info[] = {
AP_GROUPINFO("2_BUS", 20, AP_Airspeed, param[1].bus, 1),
#endif // AIRSPEED_MAX_SENSORS
// Note that 21 is used above by the _OPTIONS parameter. Do not use 21.
// Note that 21, 22 and 23 are used above by the _OPTIONS, _WIND_MAX and _WIND_WARN parameters. Do not use them!!
AP_GROUPEND
};
@ -265,6 +281,19 @@ void AP_Airspeed::init()
param[0].type.set_default(TYPE_ANALOG);
}
#ifndef HAL_BUILD_AP_PERIPH
// Switch to dedicated WIND_MAX param
const float ahrs_max_wind = AP::ahrs().get_max_wind();
if (!_wind_max.configured() && is_positive(ahrs_max_wind)) {
_wind_max.set_and_save(ahrs_max_wind);
// Turn off _options to override the new default
if (!_options.configured()) {
_options.set_and_save(0);
}
}
#endif
for (uint8_t i=0; i<AIRSPEED_MAX_SENSORS; i++) {
#if AP_AIRSPEED_AUTOCAL_ENABLE
state[i].calibration.init(param[i].ratio);

4
libraries/AP_Airspeed/AP_Airspeed.h
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@ -179,6 +179,8 @@ private:
AP_Int8 primary_sensor;
AP_Int32 _options; // bitmask options for airspeed
AP_Float _wind_max;
AP_Float _wind_warn;
struct {
AP_Float offset;
@ -223,7 +225,7 @@ private:
uint32_t last_check_ms;
float health_probability;
int8_t param_use_backup;
bool has_warned;
uint32_t last_warn_ms;
} failures;
} state[AIRSPEED_MAX_SENSORS];

89
libraries/AP_Airspeed/AP_Airspeed_Health.cpp
View File

@ -1,6 +1,5 @@
#include "AP_Airspeed.h"
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Common/AP_Common.h>
#include <AP_GPS/AP_GPS.h>
#include <AP_Math/AP_Math.h>
@ -22,71 +21,79 @@ void AP_Airspeed::check_sensor_ahrs_wind_max_failures(uint8_t i)
// slow the checking rate
return;
}
state[i].failures.last_check_ms = now_ms;
const float aspeed = get_airspeed();
const float wind_max = AP::ahrs().get_max_wind();
if (aspeed <= 0 || wind_max <= 0) {
// invalid estimates
if (!is_positive(_wind_max)) {
// nothing to do
return;
}
state[i].failures.last_check_ms = now_ms;
// update state[i].failures.health_probability via LowPassFilter
float speed_accuracy;
const AP_GPS &gps = AP::gps();
if (gps.speed_accuracy(speed_accuracy)) {
const float gnd_speed = 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;
}
const float aspeed = get_airspeed();
if (aspeed <= 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;
}
const float speed_diff = fabsf(aspeed-gps.ground_speed());
// update health_probability with LowPassFilter
if (speed_diff > _wind_max) {
// bad, decay fast
const float probability_coeff = 0.90f;
state[i].failures.health_probability = probability_coeff*state[i].failures.health_probability;
} else {
// 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_AHRS_WIND_MAX_DO_DISABLE & _options)) {
// and is probably not healthy
if (state[i].failures.health_probability < DISABLE_PROB_THRESH_CRIT) {
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
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);
// Warn if necessary
} else if (state[i].failures.health_probability > RE_ENABLE_PROB_THRESH_OK) {
state[i].failures.has_warned = false;
// 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)) {
wind_warn = _wind_max;
}
if ((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 (param[i].use == 0 &&
(AP_Airspeed::OptionsMask::ON_FAILURE_AHRS_WIND_MAX_RECOVERY_DO_REENABLE & _options) &&
state[i].failures.param_use_backup > 0 &&
state[i].failures.health_probability > RE_ENABLE_PROB_THRESH_OK) {
} 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)) {
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;
}
}