mirror of https://github.com/ArduPilot/ardupilot
72 lines
2.5 KiB
C++
72 lines
2.5 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/// @file AP_Baro_Glitch.h
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/// @brief Barometer Glitch protection
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#ifndef __BARO_GLITCH_H__
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#define __BARO_GLITCH_H__
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#include <AP_HAL.h>
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#include <inttypes.h>
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#include <AP_Progmem.h>
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#include <AP_Math.h>
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#include <AP_Baro.h>
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#define BARO_GLITCH_ACCEL_MAX_CMSS 1500.0f // vehicle can accelerate at up to 15m/s/s vertically
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#define BARO_GLITCH_DISTANCE_OK_CM 500.0f // baro movement within 5m of current position is always ok
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/// @class Baro_Glitch
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/// @brief Baro Glitch protection class
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class Baro_Glitch
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{
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public:
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// constructor
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Baro_Glitch(AP_Baro &baro);
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// check_alt - checks latest baro altitude against last know alt, velocity and maximum acceleration and updates glitching flag
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void check_alt();
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// enable - enable or disable baro sanity checking
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void enable(bool true_or_false) { _enabled = true_or_false; }
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// enabled - returns true if glitch detection is enabled
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bool enabled() const { return _enabled; }
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// glitching - returns true if we are experiencing a glitch
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bool glitching() const { return _flags.glitching; }
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// reset - resets glitch detection to start from current baro alt
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// should be called after barometer altitude is reset during arming
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void reset() { _flags.initialised = false; }
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// last_good_update - returns system time of the last good update
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uint32_t last_good_update() const { return _last_good_update; }
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// class level parameters
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static const struct AP_Param::GroupInfo var_info[];
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private:
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/// external dependencies
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AP_Baro &_baro; // reference to barometer
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/// structure for holding flags
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struct Baro_Glitch_flags {
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uint8_t initialised : 1; // 1 if we have received at least one good baro alt
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uint8_t glitching : 1; // 1 if we are experiencing a baro glitch
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} _flags;
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// parameters
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AP_Int8 _enabled; // top level enable/disable control
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AP_Float _dist_ok_cm; // distance in cm within which all new positions from Baro are accepted
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AP_Float _accel_max_cmss; // vehicles maximum acceleration in cm/s/s
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// baro sanity check variables
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uint32_t _last_good_update; // system time of last baro update that passed checks
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int32_t _last_good_alt; // last good altitude reported by the baro
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float _last_good_vel; // last good velocity reported by the baro in cm/s
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};
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#endif // __BARO_GLITCH_H__
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