mirror of https://github.com/ArduPilot/ardupilot
91 lines
3.6 KiB
C++
91 lines
3.6 KiB
C++
#include "AP_Airspeed.h"
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_Common/AP_Common.h>
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#include <AP_GPS/AP_GPS.h>
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#include <AP_Math/AP_Math.h>
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#include <GCS_MAVLink/GCS.h>
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void AP_Airspeed::check_sensor_failures()
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{
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for (uint8_t i=0; i<AIRSPEED_MAX_SENSORS; i++) {
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check_sensor_ahrs_wind_max_failures(i);
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}
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}
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void AP_Airspeed::check_sensor_ahrs_wind_max_failures(uint8_t i)
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{
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const uint32_t now_ms = AP_HAL::millis();
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if ((now_ms - state[i].failures.last_check_ms) <= 200) {
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// slow the checking rate
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return;
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}
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const float aspeed = get_airspeed();
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const float wind_max = AP::ahrs().get_max_wind();
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if (aspeed <= 0 || wind_max <= 0) {
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// invalid estimates
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return;
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}
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state[i].failures.last_check_ms = now_ms;
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// update state[i].failures.health_probability via LowPassFilter
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float speed_accuracy;
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const AP_GPS &gps = AP::gps();
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if (gps.speed_accuracy(speed_accuracy)) {
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const float gnd_speed = gps.ground_speed();
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if (aspeed > (gnd_speed + wind_max) || aspeed < (gnd_speed - wind_max)) {
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// bad, decay fast
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const float probability_coeff = 0.90f;
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//state[i].failures.health_probability = probability_coeff*state[i].failures.health_probability + (1.0f-probability_coeff)*0.0f;
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state[i].failures.health_probability = probability_coeff*state[i].failures.health_probability; // equivalent
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} else if (aspeed < (gnd_speed + wind_max) && aspeed > (gnd_speed - wind_max)) {
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// good, grow slow
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const float probability_coeff = 0.98f;
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state[i].failures.health_probability = probability_coeff*state[i].failures.health_probability + (1.0f-probability_coeff)*1.0f;
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}
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}
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// Now check if we need to disable or enable the sensor
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// here are some probability thresholds
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static const float DISABLE_PROB_THRESH_CRIT = 0.1f;
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static const float DISABLE_PROB_THRESH_WARN = 0.5f;
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static const float RE_ENABLE_PROB_THRESH_OK = 0.95f;
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// if "disable" option is allowed and sensor is enabled
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if (param[i].use > 0 && (AP_Airspeed::OptionsMask::ON_FAILURE_AHRS_WIND_MAX_DO_DISABLE & _options)) {
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// and is probably not healthy
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if (state[i].failures.health_probability < DISABLE_PROB_THRESH_CRIT) {
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gcs().send_text(MAV_SEVERITY_ERROR, "Airspeed sensor %d failure. Disabling", i+1);
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state[i].failures.param_use_backup = param[i].use;
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param[i].use.set_and_notify(0);
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state[i].healthy = false;
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// and is probably getting close to not healthy
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} else if ((state[i].failures.health_probability < DISABLE_PROB_THRESH_WARN) && !state[i].failures.has_warned) {
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state[i].failures.has_warned = true;
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gcs().send_text(MAV_SEVERITY_WARNING, "Airspeed sensor %d warning", i+1);
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} else if (state[i].failures.health_probability > RE_ENABLE_PROB_THRESH_OK) {
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state[i].failures.has_warned = false;
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}
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// if Re-Enable options is allowed, and sensor is disabled but was previously enabled, and is probably healthy
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} else if (param[i].use == 0 &&
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(AP_Airspeed::OptionsMask::ON_FAILURE_AHRS_WIND_MAX_RECOVERY_DO_REENABLE & _options) &&
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state[i].failures.param_use_backup > 0 &&
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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);
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param[i].use.set_and_notify(state[i].failures.param_use_backup); // resume
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state[i].failures.param_use_backup = -1; // set to invalid so we don't use it
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state[i].failures.has_warned = false;
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}
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}
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