airspeed_consistency.c File Reference

#include <stdio.h>
#include "modules/checks/airspeed_consistency.h"
#include "navigation.h"
#include "state.h"
#include "filters/low_pass_filter.h"
#include "generated/modules.h"
#include "modules/core/abi.h"
#include "modules/datalink/telemetry.h"
#include "modules/nav/nav_rotorcraft_base.h"

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Macros
#define	AIRSPEED_CONSISTENCY_MIN_SAMPLES   20
#define	AIRSPEED_CONSISTENCY_INTERVAL   10

Functions
static void	save_speeds (void)
static void	reset_speeds (void)
static enum CircFitStatus_t	get_circle_from_speeds (struct circle_t *c, float *N, float *E)
void	airspeed_consistency_init (void)
void	airspeed_consistency_periodic (void)
void	airspeed_consistency_reset (bool reset)

Variables
bool	asc_reset = false
static struct asc_t	asc = {0}
static Butterworth2LowPass	tas_filt

Detailed Description

Author

Noah Wechtler noahw.nosp@m.echt.nosp@m.ler@t.nosp@m.udel.nosp@m.ft.nl Simple consistency check for airspeed measurements while flying circles

Definition in file airspeed_consistency.c.

Macro Definition Documentation

AIRSPEED_CONSISTENCY_INTERVAL

#define AIRSPEED_CONSISTENCY_INTERVAL   10

Definition at line 42 of file airspeed_consistency.c.

AIRSPEED_CONSISTENCY_MIN_SAMPLES

#define AIRSPEED_CONSISTENCY_MIN_SAMPLES   20

Definition at line 38 of file airspeed_consistency.c.

Function Documentation

airspeed_consistency_init()

void airspeed_consistency_init

(

void

)

Definition at line 62 of file airspeed_consistency.c.

References foo, init_butterworth_2_low_pass(), NAVIGATION_FREQUENCY, reset_speeds(), and tas_filt.

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airspeed_consistency_periodic()

void airspeed_consistency_periodic

(

void

)

Definition at line 68 of file airspeed_consistency.c.

References AIRSPEED_CONSISTENCY_INTERVAL, AIRSPEED_CONSISTENCY_MIN_SAMPLES, ARRIVED_AT_WAYPOINT, asc_t::as, asc_t::as_circ_status, asc, NavCircle_t::center, CIRC_FIT_OK, NavBase_t::circle, asc_t::filled, float_vect2_norm(), foo, asc_t::gs_circ_status, RotorcraftNavigation::horizontal_mode, asc_t::i, if(), nav, NAV_HORIZONTAL_MODE_CIRCLE, nav_rotorcraft_base, circle_t::r, NavCircle_t::radius, reset_speeds(), save_speeds(), stateGetPositionEnu_f(), and VECT2_DIFF.

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airspeed_consistency_reset()

void airspeed_consistency_reset

(

bool

reset

)

Definition at line 139 of file airspeed_consistency.c.

References reset_speeds().

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get_circle_from_speeds()

static enum CircFitStatus_t get_circle_from_speeds ( struct circle_t *  c, float *  N, float *  E  )

static

Definition at line 133 of file airspeed_consistency.c.

References AIRSPEED_CONSISTENCY_BUFFER_SIZE, asc, asc_t::filled, foo, asc_t::i, N, pprz_circfit_wei_float(), and status.

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reset_speeds()

static void reset_speeds ( void  )

static

Definition at line 119 of file airspeed_consistency.c.

References AIRSPEED_CONSISTENCY_BUFFER_SIZE, asc_t::as_circ_status, asc_t::as_E, asc_t::as_N, asc, CIRC_FIT_ERROR, asc_t::filled, foo, asc_t::gs_circ_status, asc_t::gs_E, asc_t::gs_N, and asc_t::i.

Referenced by airspeed_consistency_init(), airspeed_consistency_periodic(), and airspeed_consistency_reset().

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save_speeds()

static void save_speeds ( void  )

static

Definition at line 103 of file airspeed_consistency.c.

References air_data, AIRSPEED_CONSISTENCY_BUFFER_SIZE, asc_t::as_E, asc_t::as_N, asc, asc_t::filled, foo, asc_t::gs_E, asc_t::gs_N, asc_t::i, SecondOrderLowPass::o, FloatEulers::psi, stateGetNedToBodyEulers_f(), stateGetSpeedNed_f(), AirData::tas, tas_filt, update_butterworth_2_low_pass(), NedCoor_f::x, and NedCoor_f::y.

Referenced by airspeed_consistency_periodic().

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Variable Documentation

asc

struct asc_t asc = {0}

static

Definition at line 59 of file airspeed_consistency.c.

Referenced by airspeed_consistency_periodic(), get_circle_from_speeds(), reset_speeds(), and save_speeds().

asc_reset

bool asc_reset = false

Definition at line 53 of file airspeed_consistency.c.

tas_filt

Butterworth2LowPass tas_filt

static

Definition at line 60 of file airspeed_consistency.c.

Referenced by airspeed_consistency_init(), and save_speeds().