forked from Archive/PX4-Autopilot
validation: remove unused vibration metric
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@ -84,8 +84,6 @@ void DataValidator::put(uint64_t timestamp, const float val[dimensions], uint64_
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}
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}
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_vibe[i] = _vibe[i] * 0.99f + 0.01f * fabsf(val[i] - _lp[i]);
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// XXX replace with better filter, make it auto-tune to update rate
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_lp[i] = _lp[i] * 0.99f + 0.01f * val[i];
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@ -125,12 +125,6 @@ public:
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*/
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float *rms() { return _rms; }
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/**
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* Get the vibration offset
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* @return the stored vibration offset
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*/
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float *vibration_offset() { return _vibe; }
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/**
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* Print the validator value
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*
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@ -186,7 +180,6 @@ private:
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float _M2[dimensions]{}; /**< RMS component value */
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float _rms[dimensions]{}; /**< root mean square error */
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float _value[dimensions]{}; /**< last value */
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float _vibe[dimensions]{}; /**< vibration level, in sensor unit */
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unsigned _value_equal_count{0}; /**< equal values in a row */
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unsigned _value_equal_count_threshold{
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@ -214,52 +214,6 @@ float *DataValidatorGroup::get_best(uint64_t timestamp, int *index) {
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return (best) ? best->value() : nullptr;
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}
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float DataValidatorGroup::get_vibration_factor(uint64_t timestamp) {
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DataValidator *next = _first;
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float vibe = 0.0f;
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/* find the best RMS value of a non-timed out sensor */
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while (next != nullptr) {
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if (next->confidence(timestamp) > 0.5f) {
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float *rms = next->rms();
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for (unsigned j = 0; j < 3; j++) {
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if (rms[j] > vibe) {
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vibe = rms[j];
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}
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}
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}
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next = next->sibling();
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}
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return vibe;
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}
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float DataValidatorGroup::get_vibration_offset(uint64_t timestamp, int axis) {
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DataValidator *next = _first;
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float vibe = -1.0f;
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/* find the best vibration value of a non-timed out sensor */
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while (next != nullptr) {
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if (next->confidence(timestamp) > 0.5f) {
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float *vibration_offset = next->vibration_offset();
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if (vibe < 0.0f || vibration_offset[axis] < vibe) {
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vibe = vibration_offset[axis];
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}
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}
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next = next->sibling();
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}
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return vibe;
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}
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void DataValidatorGroup::print() {
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ECL_INFO("validator: best: %d, prev best: %d, failsafe: %s (%u events)", _curr_best, _prev_best,
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@ -75,20 +75,6 @@ public:
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*/
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float *get_best(uint64_t timestamp, int *index);
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/**
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* Get the RMS / vibration factor
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*
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* @return float value representing the RMS, which a valid indicator for vibration
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*/
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float get_vibration_factor(uint64_t timestamp);
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/**
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* Get the vibration offset in the sensor unit
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*
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* @return float value representing the vibration offset
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*/
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float get_vibration_offset(uint64_t timestamp, int axis);
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/**
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* Get the number of failover events
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*
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@ -80,11 +80,7 @@ void test_init()
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//verify that calling print doesn't crash tests
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validator->print();
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float *vibe_offset = validator->vibration_offset();
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assert(0.0f == vibe_offset[0]);
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delete validator; //force delete
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}
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void test_put()
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@ -129,7 +125,6 @@ void test_put()
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assert(DataValidator::ERROR_FLAG_TIMEOUT == (DataValidator::ERROR_FLAG_TIMEOUT & validator->state()));
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delete validator; //force delete
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}
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/**
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@ -160,7 +155,6 @@ void test_stale_detector()
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assert(DataValidator::ERROR_FLAG_STALE_DATA == (DataValidator::ERROR_FLAG_STALE_DATA & state));
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delete validator; //force delete
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}
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/**
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@ -188,13 +182,7 @@ void test_rms_calculation()
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(double)diff, (double)diff_frac);
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assert(diff_frac < 0.03f);
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float *vibe_offset = validator->vibration_offset();
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float vibe_diff = fabsf(0.01005f - vibe_offset[0]); //TODO calculate this vibration value
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printf("vibe: %f", (double)vibe_offset[0]);
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assert(vibe_diff < 1E-3f);
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delete validator; //force delete
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}
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/**
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@ -309,7 +297,6 @@ int main(int argc, char *argv[])
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test_stale_detector();
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test_rms_calculation();
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test_error_tracking();
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//TODO verify vibration calculation
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return 0; //passed
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}
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@ -72,15 +72,6 @@ DataValidatorGroup *setup_base_group(unsigned *sibling_count)
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assert(DataValidator::ERROR_FLAG_NO_ERROR == group->failover_state());
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assert(-1 == group->failover_index());
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//no vibration yet
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float vibe_off = group->get_vibration_offset(base_timestamp, 0);
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printf("vibe_off: %f \n", (double)vibe_off);
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assert(-1.0f == group->get_vibration_offset(base_timestamp, 0));
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float vibe_fact = group->get_vibration_factor(base_timestamp);
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printf("vibe_fact: %f \n", (double)vibe_fact);
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assert(0.0f == vibe_fact);
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//this sets the timeout on all current members of the group, as well as members added later
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group->set_timeout(base_timeout_usec);
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//the following sets the threshold on all CURRENT members of the group, but not any added later
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@ -91,7 +82,6 @@ DataValidatorGroup *setup_base_group(unsigned *sibling_count)
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*sibling_count = num_siblings;
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return group;
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}
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/**
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@ -340,51 +330,6 @@ void test_simple_failover()
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delete group; //cleanup
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}
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/**
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* Verify that we get expected vibration values after injecting samples.
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*/
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void test_vibration()
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{
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unsigned num_siblings = 0;
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uint64_t timestamp = base_timestamp;
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DataValidatorGroup *group = setup_base_group(&num_siblings);
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//now we add validators
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DataValidator *validator = add_validator_to_group(group);
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assert(nullptr != validator);
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num_siblings++;
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float *vibes = validator->vibration_offset();
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assert(nullptr != vibes);
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//printf("val vibes: %f \n", vibes[0]);
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//should be no vibration data yet
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assert(0 == vibes[0]);
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float vibe_o = group->get_vibration_offset(timestamp, 0);
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//printf("group vibe_o %f \n", vibe_o);
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// there should be no known vibe offset before samples are inserted
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assert(-1.0f == vibe_o);
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float rms_err = 0.0f;
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//insert some swinging values
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insert_values_around_mean(validator, 3.14159f, 1000, &rms_err, ×tamp);
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vibes = validator->vibration_offset();
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assert(nullptr != vibes);
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printf("val1 vibes: %f rms_err: %f \n", vibes[0], (double)rms_err);
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vibe_o = group->get_vibration_offset(timestamp, 0);
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printf("group vibe_o %f \n", vibe_o);
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//the one validator's vibration offset should match the group's vibration offset
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assert(vibes[0] == vibe_o);
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//this should be "The best RMS value of a non-timed out sensor"
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float group_vibe_fact = group->get_vibration_factor(timestamp);
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float val1_rms = (validator->rms())[0];
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printf("group_vibe_fact: %f val1_rms: %f\n", (double)group_vibe_fact, (double)val1_rms);
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assert(group_vibe_fact == val1_rms);
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}
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/**
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* Force once sensor to fail and ensure that we detect it
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*/
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@ -434,7 +379,6 @@ int main(int argc, char *argv[])
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test_put();
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test_simple_failover();
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test_priority_switch();
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test_vibration();
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test_sensor_failure();
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return 0; //passed
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