Get data from Cloud Sensor. More...

#include "modules/meteo/cloud_sensor.h"
#include "generated/airframe.h"
#include "state.h"
#include "modules/core/abi.h"
#include "pprzlink/messages.h"
#include "modules/datalink/downlink.h"
#include "math/pprz_geodetic_float.h"
#include "math/pprz_stat.h"
#include "modules/gps/gps.h"
#include "filters/low_pass_filter.h"
#include "modules/loggers/sdlog_chibios.h"
#include "modules/loggers/pprzlog_tp.h"

Include dependency graph for cloud_sensor.c:

Go to the source code of this file.

Data Structures
struct	LinReg
	Structure used to compute the linear regression that provides the angstrom coefficient. More...

struct	Background
	Structure used to compute the background and the threshold which is a list of raw data, the mean and the standard deviation. More...

struct	CloudSensor
	Cloud sensor structure. More...

struct	MedianFilter
	Median Filter structure. More...

Macros
#define	CLOUD_SENSOR_LOG_FILE flightrecorder_sdlog

#define	CLOUD_SENSOR_RAW_MAX 16

#define	CLOUD_SENSOR_NB 4

#define	CLOUD_SENSOR_OFFSET 4

#define	CLOUD_SENSOR_BORDER_THRESHOLD 0.05

#define	CLOUD_SENSOR_BORDER_HYSTERESIS 0.01

#define	CLOUD_SENSOR_SINGLE_CHANNEL 1

#define	CLOUD_SENSOR_BACKGROUND_THRESHOLD_COEF 2.f

#define	CLOUD_SENSOR_BACKGROUND_HYSTERESIS_COEF 0.5f

#define	CLOUD_SENSOR_CALIB_ALPHA 1.f

#define	CLOUD_SENSOR_CALIB_BETA 1.f

#define	CLOUD_SENSOR_CHANNEL_SCALE 1.f

#define	CLOUD_SENSOR_TAU 0.f

#define	CLOUD_RAW 0

#define	CLOUD_BORDER 1

#define	CLOUD_SENSOR_REPORT_BORDER_CROSSING FALSE

#define	CLOUD_SENSOR_LAMBDA { 505.f, 590.f, 840.f, 840.f }

#define	CLOUD_SENSOR_ANGSTROM_COEF { 1.f, 1.f, 1.f, 1.f }

#define	CLOUD_SENSOR_ANGSTROM_OFFSET { 1.f, 1.f, 1.f, 1.f }

#define	CLOUD_SENSOR_BACKGROUND_NB 30

Functions
static float	lwc_from_buffer (uint8_t *buf)

static void	send_cloud_sensor_data (struct transport_tx trans, struct link_device dev)

static void	check_border (void)

static void	send_data (uint32_t stamp)

void	cloud_sensor_init (void)
	Init function.

void	cloud_sensor_update_tau (float tau)

float	median_filter_update (float new_sample, struct MedianFilter *filter)
	Median filter function.

float	cloud_sensor_filtering (float new_sample, struct MedianFilter medianFilter, struct FirstOrderLowPass lowPassFilter)

void	cloud_sensor_callback (uint8_t *buf)
	End median filter function.

void	LWC_callback (uint8_t *buf)

void	cloud_sensor_report (void)
	Report function.

Variables
static float	lambdas [] = CLOUD_SENSOR_LAMBDA

static float	angstrom_coef [] = CLOUD_SENSOR_ANGSTROM_COEF

static float	angstrom_offset [] = CLOUD_SENSOR_ANGSTROM_OFFSET

static struct CloudSensor	cloud_sensor
	Local variables.

static bool	log_tagged

static struct MedianFilter	medianFilter0

static struct FirstOrderLowPass	lowPassFilter0

uint8_t	cloud_sensor_compute_coef
	Extern variables.

uint8_t	cloud_sensor_compute_background

float	cloud_sensor_threshold

float	cloud_sensor_hysteresis

float	cloud_sensor_background

float	cloud_sensor_calib_alpha

float	cloud_sensor_calib_beta

float	cloud_sensor_channel_scale

float	cloud_sensor_tau

Detailed Description

Get data from Cloud Sensor.

compute coef value from PAYLOAD_FLOAT data
- Liquid Water Content (LWC)
- Angstrom coef
- single sensor
get already computed LWC from PAYLOAD_COMMAND data

Definition in file cloud_sensor.c.

Data Structure Documentation

◆ LinReg

struct LinReg

Structure used to compute the linear regression that provides the angstrom coefficient.

The slope of the linear regression is computed as cov(X,Y)/var(X). var(X) can be precomputed as LED frequencies are not changing.

Definition at line 145 of file cloud_sensor.c.

Data Fields
float	lambda[CLOUD_SENSOR_NB]	list of sensor LED frequencies
float	var_lambda	variance of lambda

◆ Background

struct Background

Structure used to compute the background and the threshold which is a list of raw data, the mean and the standard deviation.

Definition at line 159 of file cloud_sensor.c.

Data Fields
uint8_t	idx	current index
float	mean[CLOUD_SENSOR_NB]	mean of the lists
float	raw[CLOUD_SENSOR_NB][CLOUD_SENSOR_BACKGROUND_NB]	lists of raw values
float	std[CLOUD_SENSOR_NB]	std of the lists

◆ CloudSensor

struct CloudSensor

Cloud sensor structure.

Definition at line 168 of file cloud_sensor.c.

Collaboration diagram for CloudSensor:

Data Fields
struct Background	background	structure for background parameters
float	coef	scalar coeff related to cloud parameter (LWC, angstrom, extinction,...)
bool	inside_cloud	in/out status flag
uint8_t	nb_raw	number of raw data in array
float	raw[CLOUD_SENSOR_RAW_MAX]	raw cloud sensor values
struct LinReg	reg	linear regression parameters
float	values[CLOUD_SENSOR_NB]	preprocessed cloud sensor values