dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Make the equal value threshold configurable

This commit is contained in:
Lorenz Meier 2016-12-17 14:51:39 +01:00 committed by Lorenz Meier
parent 00dbffe11d
commit 75520641a5
4 changed files with 32 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
validation/data_validator.cpp
View File

@ -57,6 +57,7 @@ DataValidator::DataValidator(DataValidator *prev_sibling) :
_value{0.0f},
_vibe{0.0f},
_value_equal_count(0),
_value_equal_count_threshold(VALUE_EQUAL_COUNT_DEFAULT),
_sibling(prev_sibling)
{
@ -136,7 +137,7 @@ DataValidator::confidence(uint64_t timestamp)
ret = 0.0f;
/* we got the exact same sensor value N times in a row */
} else if (_value_equal_count > VALUE_EQUAL_COUNT_MAX) {
} else if (_value_equal_count > _value_equal_count_threshold) {
_error_mask |= ERROR_FLAG_STALE_DATA;
ret = 0.0f;

10
validation/data_validator.h
View File

@ -138,6 +138,13 @@ public:
*/
void set_timeout(uint32_t timeout_interval_us) { _timeout_interval = timeout_interval_us; }
/**
* Set the equal count threshold
*
* @param threshold The number of equal values before considering the sensor stale
*/
void set_equal_value_threshold(uint32_t threshold) { _value_equal_count_threshold = threshold; }
/**
* Get the timeout value
*
@ -170,10 +177,11 @@ private:
float _value[dimensions]; /**< last value */
float _vibe[dimensions]; /**< vibration level, in sensor unit */
float _value_equal_count; /**< equal values in a row */
float _value_equal_count_threshold; /**< when to consider an equal count as a problem */
DataValidator *_sibling; /**< sibling in the group */
static const constexpr unsigned NORETURN_ERRCOUNT = 10000; /**< if the error count reaches this value, return sensor as invalid */
static const constexpr float ERROR_DENSITY_WINDOW = 100.0f; /**< window in measurement counts for errors */
static const constexpr unsigned VALUE_EQUAL_COUNT_MAX = 100; /**< if the sensor value is the same (accumulated also between axes) this many times, flag it */
static const constexpr unsigned VALUE_EQUAL_COUNT_DEFAULT = 100; /**< if the sensor value is the same (accumulated also between axes) this many times, flag it */
/* we don't want this class to be copied */
DataValidator(const DataValidator&) = delete;

12
validation/data_validator_group.cpp
View File

@ -91,6 +91,18 @@ DataValidatorGroup::set_timeout(uint32_t timeout_interval_us)
_timeout_interval_us = timeout_interval_us;
}
void
DataValidatorGroup::set_equal_value_threshold(uint32_t threshold)
{
DataValidator *next = _first;
while (next != nullptr) {
next->set_equal_value_threshold(threshold);
next = next->sibling();
}
}
void
DataValidatorGroup::put(unsigned index, uint64_t timestamp, float val[3], uint64_t error_count, int priority)
{

10
validation/data_validator_group.h
View File

@ -118,12 +118,20 @@ public:
void print();
/**
* Set the timeout value
* Set the timeout value for the whole group
*
* @param timeout_interval_us The timeout interval in microseconds
*/
void set_timeout(uint32_t timeout_interval_us);
/**
* Set the equal count threshold for the whole group
*
* @param threshold The number of equal values before considering the sensor stale
*/
void set_equal_value_threshold(uint32_t threshold);
private:
DataValidator *_first; /**< sibling in the group */
uint32_t _timeout_interval_us; /**< currently set timeout */