mirror of https://github.com/ArduPilot/ardupilot
122 lines
3.9 KiB
C++
122 lines
3.9 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include <AP_Common.h>
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#include <AP_Math.h>
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#include <AP_HAL.h>
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#include <AP_Notify.h>
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#include "AP_Baro_Glitch.h"
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extern const AP_HAL::HAL& hal;
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// table of user settable parameters
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const AP_Param::GroupInfo Baro_Glitch::var_info[] PROGMEM = {
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// @Param: ENABLE
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// @DisplayName: Baro Glitch protection enable/disable
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// @Description: Allows you to enable (1) or disable (0) baro glitch protection
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// @Values: 0:Disabled,1:Enabled
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// @User: Standard
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AP_GROUPINFO("ENABLE", 0, Baro_Glitch, _enabled, 1),
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// @Param: DIST
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// @DisplayName: Baro glitch protection distance within which alt update is immediately accepted
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// @Description: Baro glitch protection distance within which alt update is immediately accepted
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// @Units: cm
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// @Range: 100 2000
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// @Increment: 100
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// @User: Advanced
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AP_GROUPINFO("DIST", 1, Baro_Glitch, _dist_ok_cm, BARO_GLITCH_DISTANCE_OK_CM),
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// @Param: ACCEL
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// @DisplayName: Baro glitch protection's max vehicle acceleration assumption
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// @Description: Baro glitch protection's max vehicle acceleration assumption
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// @Units: cm/s/s
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// @Range: 100 2000
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// @Increment: 100
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// @User: Advanced
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AP_GROUPINFO("ACCEL", 2, Baro_Glitch, _accel_max_cmss, BARO_GLITCH_ACCEL_MAX_CMSS),
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AP_GROUPEND
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};
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// constuctor
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Baro_Glitch::Baro_Glitch(AP_Baro &baro) :
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_baro(baro),
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_last_good_update(0),
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_last_good_alt(0),
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_last_good_vel(0.0f)
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{
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AP_Param::setup_object_defaults(this, var_info);
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// initialise flags
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_flags.initialised = 0;
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_flags.glitching = 0;
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}
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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 Baro_Glitch::check_alt()
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{
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uint32_t now = hal.scheduler->millis(); // current system time
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float sane_dt; // time since last sane baro reading
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float accel_based_distance; // movement based on max acceleration
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int32_t alt_projected; // altitude estimate projected from previous iteration
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int32_t distance_cm; // distance from baro alt to current alt estimate in cm
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bool all_ok; // true if the new baro alt passes sanity checks
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// exit immediately if baro is unhealthy
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if (!_baro.healthy()) {
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_flags.glitching = true;
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return;
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}
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// if not initialised or disabled update last good alt and exit
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if (!_flags.initialised || !_enabled) {
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_last_good_update = now;
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_last_good_alt = _baro.get_altitude();
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_last_good_vel = _baro.get_climb_rate();
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_flags.initialised = true;
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_flags.glitching = false;
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return;
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}
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// calculate time since last sane baro reading in ms
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sane_dt = (now - _last_good_update) / 1000.0f;
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// estimate our alt from last known alt and velocity
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alt_projected = _last_good_alt + (_last_good_vel * sane_dt);
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// calculate distance from recent baro alt to current estimate
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int32_t baro_alt = _baro.get_altitude() * 100.0f;
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// baro may have become unhealthy when calculating altitude
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if (!_baro.healthy()) {
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_flags.glitching = true;
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return;
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}
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// calculte distance from projected distance
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distance_cm = labs(alt_projected - baro_alt);
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// all ok if within a given hardcoded radius
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if (distance_cm <= _dist_ok_cm) {
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all_ok = true;
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}else{
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// or if within the maximum distance we could have moved based on our acceleration
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accel_based_distance = 0.5f * _accel_max_cmss * sane_dt * sane_dt;
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all_ok = (distance_cm <= accel_based_distance);
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}
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// store updates to baro position
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if (all_ok) {
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// position is acceptable
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_last_good_update = now;
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_last_good_alt = baro_alt;
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_last_good_vel = _baro.get_climb_rate();
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}
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// update glitching flag
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_flags.glitching = !all_ok;
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}
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