#include <PreFlightChecker.hpp>

Collaboration diagram for PreFlightChecker:

Public Member Functions
	PreFlightChecker ()=default

	~PreFlightChecker ()=default

void	reset ()

void	update (float dt, const ekf2_innovations_s &innov)

void	setVehicleCanObserveHeadingInFlight (bool val)

void	setUsingGpsAiding (bool val)

void	setUsingFlowAiding (bool val)

void	setUsingEvPosAiding (bool val)

bool	hasHeadingFailed () const

bool	hasHorizVelFailed () const

bool	hasVertVelFailed () const

bool	hasHeightFailed () const

bool	hasFailed () const

bool	hasHorizFailed () const

bool	hasVertFailed () const

Static Public Member Functions
static bool	checkInnovFailed (float innov, float innov_lpf, float test_limit)

static bool	checkInnov2DFailed (const Vector2f &innov, const Vector2f &innov_lpf, float test_limit)

static constexpr float	sq (float var)

Private Member Functions
bool	preFlightCheckHeadingFailed (const ekf2_innovations_s &innov, float alpha)

float	selectHeadingTestLimit ()

bool	preFlightCheckHorizVelFailed (const ekf2_innovations_s &innov, float alpha)

bool	preFlightCheckVertVelFailed (const ekf2_innovations_s &innov, float alpha)

bool	preFlightCheckHeightFailed (const ekf2_innovations_s &innov, float alpha)

void	resetPreFlightChecks ()

Private Attributes
bool	_has_heading_failed {}

bool	_has_horiz_vel_failed {}

bool	_has_vert_vel_failed {}

bool	_has_height_failed {}

bool	_can_observe_heading_in_flight {}

bool	_is_using_gps_aiding {}

bool	_is_using_flow_aiding {}

bool	_is_using_ev_pos_aiding {}

InnovationLpf	_filter_vel_n_innov
	Preflight low pass filter N axis velocity innovations (m/sec) More...

InnovationLpf	_filter_vel_e_innov
	Preflight low pass filter E axis velocity innovations (m/sec) More...

InnovationLpf	_filter_vel_d_innov
	Preflight low pass filter D axis velocity innovations (m/sec) More...

InnovationLpf	_filter_hgt_innov
	Preflight low pass filter height innovation (m) More...

InnovationLpf	_filter_heading_innov
	Preflight low pass filter heading innovation magntitude (rad) More...

InnovationLpf	_filter_flow_x_innov
	Preflight low pass filter optical flow innovation (rad) More...

InnovationLpf	_filter_flow_y_innov
	Preflight low pass filter optical flow innovation (rad) More...

Static Private Attributes
static constexpr float	_innov_lpf_tau_inv = 0.2f

static constexpr float	_vel_innov_test_lim = 0.5f

static constexpr float	_hgt_innov_test_lim = 1.5f

static constexpr float	_nav_heading_innov_test_lim = 0.25f

static constexpr float	_heading_innov_test_lim = 0.52f

static constexpr float	_flow_innov_test_lim = 0.1f

static constexpr float	_vel_innov_spike_lim = 2.0f * _vel_innov_test_lim

static constexpr float	_hgt_innov_spike_lim = 2.0f * _hgt_innov_test_lim

static constexpr float	_flow_innov_spike_lim = 2.0f * _flow_innov_test_lim

Detailed Description

Definition at line 53 of file PreFlightChecker.hpp.

Constructor & Destructor Documentation

◆ PreFlightChecker()

PreFlightChecker::PreFlightChecker ( )

default

◆ ~PreFlightChecker()

PreFlightChecker::~PreFlightChecker ( )

default

Member Function Documentation

◆ checkInnov2DFailed()

bool PreFlightChecker::checkInnov2DFailed	(	const Vector2f &	innov,
		const Vector2f &	innov_lpf,
		float	test_limit
	)

static

Definition at line 114 of file PreFlightChecker.cpp.

References f(), and sq().

Referenced by hasVertFailed(), preFlightCheckHorizVelFailed(), and TEST_F().

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◆ checkInnovFailed()

bool PreFlightChecker::checkInnovFailed	(	float	innov,
		float	innov_lpf,
		float	test_limit
	)

static

Definition at line 109 of file PreFlightChecker.cpp.

Referenced by hasVertFailed(), preFlightCheckHeadingFailed(), preFlightCheckHeightFailed(), preFlightCheckVertVelFailed(), and TEST_F().

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◆ hasFailed()

bool PreFlightChecker::hasFailed ( ) const

inline

Definition at line 89 of file PreFlightChecker.hpp.

References hasHorizFailed(), and hasVertFailed().

Referenced by Ekf2::Run().

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◆ hasHeadingFailed()

bool PreFlightChecker::hasHeadingFailed ( ) const

inline

Definition at line 80 of file PreFlightChecker.hpp.

References _has_heading_failed.

Referenced by Ekf2::Run().

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◆ hasHeightFailed()

bool PreFlightChecker::hasHeightFailed ( ) const

inline

Definition at line 83 of file PreFlightChecker.hpp.

References _has_height_failed.

Referenced by Ekf2::Run().

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◆ hasHorizFailed()

bool PreFlightChecker::hasHorizFailed ( ) const

inline

Definition at line 95 of file PreFlightChecker.hpp.

References _has_heading_failed, and _has_horiz_vel_failed.

Referenced by hasFailed(), and Ekf2::Run().

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◆ hasHorizVelFailed()

bool PreFlightChecker::hasHorizVelFailed ( ) const

inline

Definition at line 81 of file PreFlightChecker.hpp.

References _has_horiz_vel_failed.

Referenced by Ekf2::Run().

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◆ hasVertFailed()

bool PreFlightChecker::hasVertFailed ( ) const

inline

Definition at line 101 of file PreFlightChecker.hpp.

References _has_height_failed, _has_vert_vel_failed, checkInnov2DFailed(), and checkInnovFailed().

Referenced by hasFailed(), and Ekf2::Run().

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◆ hasVertVelFailed()

bool PreFlightChecker::hasVertVelFailed ( ) const

inline

Definition at line 82 of file PreFlightChecker.hpp.

References _has_vert_vel_failed.

Referenced by Ekf2::Run().

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◆ preFlightCheckHeadingFailed()

bool PreFlightChecker::preFlightCheckHeadingFailed	(	const ekf2_innovations_s &	innov,
		float	alpha
	)

private

Definition at line 51 of file PreFlightChecker.cpp.

References _filter_heading_innov, checkInnovFailed(), ekf2_innovations_s::heading_innov, selectHeadingTestLimit(), and InnovationLpf::update().

Referenced by sq(), and update().

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◆ preFlightCheckHeightFailed()

bool PreFlightChecker::preFlightCheckHeightFailed	(	const ekf2_innovations_s &	innov,
		float	alpha
	)

private

Definition at line 102 of file PreFlightChecker.cpp.

References _filter_hgt_innov, _hgt_innov_spike_lim, _hgt_innov_test_lim, checkInnovFailed(), InnovationLpf::update(), and ekf2_innovations_s::vel_pos_innov.

Referenced by sq(), and update().

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◆ preFlightCheckHorizVelFailed()

bool PreFlightChecker::preFlightCheckHorizVelFailed	(	const ekf2_innovations_s &	innov,
		float	alpha
	)

private

Definition at line 72 of file PreFlightChecker.cpp.

References _filter_flow_x_innov, _filter_vel_n_innov, _flow_innov_spike_lim, _flow_innov_test_lim, _is_using_ev_pos_aiding, _is_using_flow_aiding, _is_using_gps_aiding, _vel_innov_spike_lim, _vel_innov_test_lim, checkInnov2DFailed(), ekf2_innovations_s::flow_innov, InnovationLpf::update(), and ekf2_innovations_s::vel_pos_innov.

Referenced by sq(), and update().

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◆ preFlightCheckVertVelFailed()

bool PreFlightChecker::preFlightCheckVertVelFailed	(	const ekf2_innovations_s &	innov,
		float	alpha
	)

private

Definition at line 95 of file PreFlightChecker.cpp.

References _filter_vel_d_innov, _vel_innov_spike_lim, _vel_innov_test_lim, checkInnovFailed(), InnovationLpf::update(), and ekf2_innovations_s::vel_pos_innov.

Referenced by sq(), and update().

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◆ reset()

void PreFlightChecker::reset ( void )

Definition at line 120 of file PreFlightChecker.cpp.

References _filter_flow_x_innov, _filter_flow_y_innov, _filter_heading_innov, _filter_hgt_innov, _filter_vel_d_innov, _filter_vel_e_innov, _filter_vel_n_innov, _has_heading_failed, _has_height_failed, _has_horiz_vel_failed, _has_vert_vel_failed, _is_using_ev_pos_aiding, _is_using_flow_aiding, _is_using_gps_aiding, and InnovationLpf::reset().

Referenced by Ekf2::resetPreFlightChecks().

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◆ resetPreFlightChecks()

void PreFlightChecker::resetPreFlightChecks ( )

private

Referenced by sq().

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◆ selectHeadingTestLimit()

float PreFlightChecker::selectHeadingTestLimit ( )

private

Definition at line 61 of file PreFlightChecker.cpp.

References _can_observe_heading_in_flight, _heading_innov_test_lim, _is_using_ev_pos_aiding, _is_using_gps_aiding, and _nav_heading_innov_test_lim.

Referenced by preFlightCheckHeadingFailed(), and sq().

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◆ setUsingEvPosAiding()

void PreFlightChecker::setUsingEvPosAiding ( bool val )

inline

Definition at line 78 of file PreFlightChecker.hpp.

References _is_using_ev_pos_aiding.

Referenced by Ekf2::runPreFlightChecks().

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◆ setUsingFlowAiding()

void PreFlightChecker::setUsingFlowAiding ( bool val )

inline

Definition at line 77 of file PreFlightChecker.hpp.

References _is_using_flow_aiding.

Referenced by Ekf2::runPreFlightChecks().

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◆ setUsingGpsAiding()

void PreFlightChecker::setUsingGpsAiding ( bool val )

inline

Definition at line 76 of file PreFlightChecker.hpp.

References _is_using_gps_aiding.

Referenced by Ekf2::runPreFlightChecks().

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◆ setVehicleCanObserveHeadingInFlight()

void PreFlightChecker::setVehicleCanObserveHeadingInFlight ( bool val )

inline

Definition at line 74 of file PreFlightChecker.hpp.

References _can_observe_heading_in_flight.

Referenced by Ekf2::runPreFlightChecks().

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◆ sq()

static constexpr float PreFlightChecker::sq ( float var )

inlinestatic

Definition at line 127 of file PreFlightChecker.hpp.

References preFlightCheckHeadingFailed(), preFlightCheckHeightFailed(), preFlightCheckHorizVelFailed(), preFlightCheckVertVelFailed(), resetPreFlightChecks(), and selectHeadingTestLimit().

Referenced by checkInnov2DFailed().

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◆ update()

void PreFlightChecker::update	(	float	dt,
		const ekf2_innovations_s &	innov
	)

Definition at line 41 of file PreFlightChecker.cpp.

References _has_heading_failed, _has_height_failed, _has_horiz_vel_failed, _has_vert_vel_failed, _innov_lpf_tau_inv, InnovationLpf::computeAlphaFromDtAndTauInv(), preFlightCheckHeadingFailed(), preFlightCheckHeightFailed(), preFlightCheckHorizVelFailed(), and preFlightCheckVertVelFailed().

Referenced by Ekf2::runPreFlightChecks().

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Member Data Documentation

◆ _can_observe_heading_in_flight

bool PreFlightChecker::_can_observe_heading_in_flight {}

private

Definition at line 144 of file PreFlightChecker.hpp.

Referenced by selectHeadingTestLimit(), and setVehicleCanObserveHeadingInFlight().

◆ _filter_flow_x_innov

InnovationLpf PreFlightChecker::_filter_flow_x_innov

private

Preflight low pass filter optical flow innovation (rad)

Definition at line 155 of file PreFlightChecker.hpp.

Referenced by preFlightCheckHorizVelFailed(), and reset().

◆ _filter_flow_y_innov

InnovationLpf PreFlightChecker::_filter_flow_y_innov

private

Preflight low pass filter optical flow innovation (rad)

Definition at line 156 of file PreFlightChecker.hpp.

Referenced by reset().

◆ _filter_heading_innov

InnovationLpf PreFlightChecker::_filter_heading_innov

private

Preflight low pass filter heading innovation magntitude (rad)

Definition at line 154 of file PreFlightChecker.hpp.

Referenced by preFlightCheckHeadingFailed(), and reset().

◆ _filter_hgt_innov

InnovationLpf PreFlightChecker::_filter_hgt_innov

private

Preflight low pass filter height innovation (m)

Definition at line 153 of file PreFlightChecker.hpp.

Referenced by preFlightCheckHeightFailed(), and reset().

◆ _filter_vel_d_innov

InnovationLpf PreFlightChecker::_filter_vel_d_innov

private

Preflight low pass filter D axis velocity innovations (m/sec)

Definition at line 152 of file PreFlightChecker.hpp.

Referenced by preFlightCheckVertVelFailed(), and reset().

◆ _filter_vel_e_innov

InnovationLpf PreFlightChecker::_filter_vel_e_innov

private

Preflight low pass filter E axis velocity innovations (m/sec)

Definition at line 151 of file PreFlightChecker.hpp.

Referenced by reset().

◆ _filter_vel_n_innov

InnovationLpf PreFlightChecker::_filter_vel_n_innov

private

Preflight low pass filter N axis velocity innovations (m/sec)

Definition at line 150 of file PreFlightChecker.hpp.

Referenced by preFlightCheckHorizVelFailed(), and reset().

◆ _flow_innov_spike_lim

constexpr float PreFlightChecker::_flow_innov_spike_lim = 2.0f * _flow_innov_test_lim

staticprivate

Definition at line 175 of file PreFlightChecker.hpp.

Referenced by preFlightCheckHorizVelFailed().

◆ _flow_innov_test_lim

constexpr float PreFlightChecker::_flow_innov_test_lim = 0.1f

staticprivate

Definition at line 169 of file PreFlightChecker.hpp.

Referenced by preFlightCheckHorizVelFailed().

◆ _has_heading_failed

bool PreFlightChecker::_has_heading_failed {}

private

Definition at line 139 of file PreFlightChecker.hpp.

Referenced by hasHeadingFailed(), hasHorizFailed(), reset(), and update().

◆ _has_height_failed

bool PreFlightChecker::_has_height_failed {}

private

Definition at line 142 of file PreFlightChecker.hpp.

Referenced by hasHeightFailed(), hasVertFailed(), reset(), and update().

◆ _has_horiz_vel_failed

bool PreFlightChecker::_has_horiz_vel_failed {}

private

Definition at line 140 of file PreFlightChecker.hpp.

Referenced by hasHorizFailed(), hasHorizVelFailed(), reset(), and update().

◆ _has_vert_vel_failed

bool PreFlightChecker::_has_vert_vel_failed {}

private

Definition at line 141 of file PreFlightChecker.hpp.

Referenced by hasVertFailed(), hasVertVelFailed(), reset(), and update().

◆ _heading_innov_test_lim

constexpr float PreFlightChecker::_heading_innov_test_lim = 0.52f

staticprivate

Definition at line 167 of file PreFlightChecker.hpp.

Referenced by selectHeadingTestLimit().

◆ _hgt_innov_spike_lim

constexpr float PreFlightChecker::_hgt_innov_spike_lim = 2.0f * _hgt_innov_test_lim

staticprivate

Definition at line 173 of file PreFlightChecker.hpp.

Referenced by preFlightCheckHeightFailed().

◆ _hgt_innov_test_lim

constexpr float PreFlightChecker::_hgt_innov_test_lim = 1.5f

staticprivate

Definition at line 163 of file PreFlightChecker.hpp.

Referenced by preFlightCheckHeightFailed().

◆ _innov_lpf_tau_inv

constexpr float PreFlightChecker::_innov_lpf_tau_inv = 0.2f

staticprivate

Definition at line 159 of file PreFlightChecker.hpp.

Referenced by update().

◆ _is_using_ev_pos_aiding

bool PreFlightChecker::_is_using_ev_pos_aiding {}

private

Definition at line 147 of file PreFlightChecker.hpp.

Referenced by preFlightCheckHorizVelFailed(), reset(), selectHeadingTestLimit(), and setUsingEvPosAiding().

◆ _is_using_flow_aiding

bool PreFlightChecker::_is_using_flow_aiding {}

private

Definition at line 146 of file PreFlightChecker.hpp.

Referenced by preFlightCheckHorizVelFailed(), reset(), and setUsingFlowAiding().

◆ _is_using_gps_aiding

bool PreFlightChecker::_is_using_gps_aiding {}

private

Definition at line 145 of file PreFlightChecker.hpp.

Referenced by preFlightCheckHorizVelFailed(), reset(), selectHeadingTestLimit(), and setUsingGpsAiding().

◆ _nav_heading_innov_test_lim

constexpr float PreFlightChecker::_nav_heading_innov_test_lim = 0.25f

staticprivate

Definition at line 165 of file PreFlightChecker.hpp.

Referenced by selectHeadingTestLimit().

◆ _vel_innov_spike_lim

constexpr float PreFlightChecker::_vel_innov_spike_lim = 2.0f * _vel_innov_test_lim

staticprivate

Definition at line 171 of file PreFlightChecker.hpp.

Referenced by preFlightCheckHorizVelFailed(), and preFlightCheckVertVelFailed().

◆ _vel_innov_test_lim

constexpr float PreFlightChecker::_vel_innov_test_lim = 0.5f

staticprivate

Definition at line 161 of file PreFlightChecker.hpp.

Referenced by preFlightCheckHorizVelFailed(), and preFlightCheckVertVelFailed().

The documentation for this class was generated from the following files:

src/modules/ekf2/Utility/PreFlightChecker.hpp
src/modules/ekf2/Utility/PreFlightChecker.cpp

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ PreFlightChecker()

◆ ~PreFlightChecker()

Member Function Documentation

◆ checkInnov2DFailed()

◆ checkInnovFailed()

◆ hasFailed()

◆ hasHeadingFailed()

◆ hasHeightFailed()

◆ hasHorizFailed()

◆ hasHorizVelFailed()

◆ hasVertFailed()

◆ hasVertVelFailed()

◆ preFlightCheckHeadingFailed()

◆ preFlightCheckHeightFailed()

◆ preFlightCheckHorizVelFailed()

◆ preFlightCheckVertVelFailed()

◆ reset()

◆ resetPreFlightChecks()

◆ selectHeadingTestLimit()

◆ setUsingEvPosAiding()

◆ setUsingFlowAiding()

◆ setUsingGpsAiding()

◆ setVehicleCanObserveHeadingInFlight()

◆ sq()

◆ update()

Member Data Documentation

◆ _can_observe_heading_in_flight

◆ _filter_flow_x_innov

◆ _filter_flow_y_innov

◆ _filter_heading_innov

◆ _filter_hgt_innov

◆ _filter_vel_d_innov

◆ _filter_vel_e_innov

◆ _filter_vel_n_innov

◆ _flow_innov_spike_lim

◆ _flow_innov_test_lim

◆ _has_heading_failed

◆ _has_height_failed

◆ _has_horiz_vel_failed

◆ _has_vert_vel_failed

◆ _heading_innov_test_lim

◆ _hgt_innov_spike_lim

◆ _hgt_innov_test_lim

◆ _innov_lpf_tau_inv

◆ _is_using_ev_pos_aiding

◆ _is_using_flow_aiding

◆ _is_using_gps_aiding

◆ _nav_heading_innov_test_lim

◆ _vel_innov_spike_lim

◆ _vel_innov_test_lim