From 91e1885bd5f2978bd8d8d68716be9f942d6b7e6c Mon Sep 17 00:00:00 2001
From: Alessandro Donadi <48148478+dondi01@users.noreply.github.com>
Date: Mon, 13 Nov 2023 13:34:54 +0100
Subject: [PATCH] cleaned up code related to fault generation in initsensors
and sensor_with_fault_sim
---
.../sensors/Sensor_with_fault_sim.m | 70 +-
commonFunctions/sensors/acquisition_Sys.m | 56 +-
commonFunctions/sensors/initSensors.m | 147 +-
commonFunctions/sensors/linear_svm_predict.m | 2 +-
.../sensors/run_SensorFaultDetection_SVM.m | 97 +-
...configABK_Gemini_Portugal_October_2023.csv | 2 +-
...outputABK_Gemini_Portugal_October_2023.csv | 18524 ++--
...jectories_Gemini_Portugal_October_2023.csv | 70950 ++++++++--------
.../testing/std_run_motorShutdownTesting.m | 2 +-
simulator/configs/configFaults.m | 78 +-
simulator/configs/configFlags.m | 2 +-
simulator/mainSimulator.m | 4 +-
simulator/src/sensor_plots.m | 16 +-
simulator/src/std_run.m | 5 +-
.../src/std_run_parts/std_setInitialParams.m | 2 +
15 files changed, 42281 insertions(+), 47676 deletions(-)
diff --git a/commonFunctions/sensors/Sensor_with_fault_sim.m b/commonFunctions/sensors/Sensor_with_fault_sim.m
index 09b76bda..61d541d8 100644
--- a/commonFunctions/sensors/Sensor_with_fault_sim.m
+++ b/commonFunctions/sensors/Sensor_with_fault_sim.m
@@ -32,7 +32,7 @@ classdef Sensor_with_fault_sim < handle
end
- properties (Access = private) %attributes private
+ properties (Access = private) %attributes used for fault simulation
failureType;
fault_offset;
lambda;
@@ -71,9 +71,13 @@ classdef Sensor_with_fault_sim < handle
% temp: temperature of the sensor
%
% Outputs:
- % outputArg sensor data with nois,
+ % outputArg sensor data with noise,
% offsets, etc.
-
+ % N.B. this offsets and saturations ecc... are inherent
+ % non-idealities of the simulated sensors, not FAULTS, with
+ % faults in this context we mean SUDDEN non-idealities, and not
+ % a characteristic of the transducer or sensor in question that
+ % we already know it's present.
inputArg=obj.add2DOffset(inputArg,temp);
inputArg=obj.whiteNoise(inputArg);
inputArg=obj.addOffset(inputArg);
@@ -82,7 +86,7 @@ classdef Sensor_with_fault_sim < handle
inputArg=obj.saturation(inputArg);
outputArg = inputArg;
end
- function obj = setErrorTime(obj, startTimestamp)
+ function obj = setErrorTime(obj, startTimestamp) % to set when the fault occurs
if startTimestamp >= 0
obj.tError = startTimestamp;
else
@@ -90,7 +94,7 @@ classdef Sensor_with_fault_sim < handle
end
end
- function [obj, sensorData] = applyFailure(obj, sensorData, timestamp)
+ function [obj, sensorData] = applyFailure(obj, sensorData, timestamp) %function necessary to set a fault at a certain timestamp of the simulation, the operation applied depends on the simulated fault
for i = 1:length(timestamp)
if timestamp(i) >= obj.tError
if obj.settings.bias
@@ -103,9 +107,9 @@ classdef Sensor_with_fault_sim < handle
sensorData(i) = sensorData(i) - obj.sigmaDeg + 2*obj.sigmaDeg*rand;
end
if obj.settings.freezing
- if timestamp(i) == obj.tError
- obj.frozenValue = sensorData(i);
- end
+ % if timestamp(i) == obj.tError
+ % obj.frozenValue = sensorData(i);
+ % end
sensorData(i) = obj.frozenValue;
end
if obj.settings.calerr
@@ -133,6 +137,7 @@ classdef Sensor_with_fault_sim < handle
else
if obj.settings.freezing
obj.frozenValue = sensorData(i);
+ %sensorData(i) = obj.frozenValue;
end
end
end
@@ -290,54 +295,7 @@ classdef Sensor_with_fault_sim < handle
inputArg = inputArg + filteredNoise + Backgroundnoise_sensor;
end
outputArg = inputArg;
- end
-
- function outputArg = twoNoise(obj,inputArg)
- %WHITE_NOISE Includes gaussian white noise to the sensor data
- % Adds gaussian white noise with variance noiseVariance
- %
- % Necessary properties:
- % noiseVariance: Varianze for the gaussian white noise
- %
- % Inputs:
- % inputArg: sensor data
- %
- % Outputs:
- % outputArg: sensor data with white noise
-
- % ADDING NOISE TO MODIFIED SIGNAL (since they got filtered)
- % Define the parameters for white noise
- noiseAmplitude = 150; % Pa Amplitude of the white noise
- lowerAmplitude = 10; % Pa
-
- % Generate white noise
- noise2 = noiseAmplitude * randn(size(inputArg)); % Generate white noise with the same size as the sensor signal
- %noise3 = noiseAmplitude * randn(size(inputArg)); % Generate white noise with the same size as the sensor signal
- Backgroundnoise2 = lowerAmplitude * randn(size(inputArg)); % Generate white noise with the same size as the sensor signal
- %Backgroundnoise3 = lowerAmplitude * randn(size(inputArg)); % Generate white noise with the same size as the sensor signal
-
-
- Fs = 50; %Hz Change this to the appropriate value
- % Apply low-pass filtering to the white noise
- cutOffFrequency1 = 1; % Cut-off frequency of the low-pass filter for ascension
- %cutOffFrequency2 = 3; % Cut-off frequency of the low-pass filter for desention
- normalizedCutOffFrequency1 = cutOffFrequency1 / (0.5 * Fs); % Normalize the cut-off frequency
- %normalizedCutOffFrequency2 = cutOffFrequency2 / (0.5 * Fs); % Normalize the cut-off frequency
- [b1, a1] = butter(4, normalizedCutOffFrequency1, 'low'); % Butterworth low-pass filter coefficients
- %[b2, a2] = butter(4, normalizedCutOffFrequency2, 'low'); % Butterworth low-pass filter coefficients
- % filteredNoise2 = zeros(length(noise2),1);
- % filteredNoise3 = zeros(length(noise3),1);
- filteredNoise2(1:1087) = filter(b1, a1, noise2(1:1087)); % Apply the low-pass filter to the white noise
-
-
- %filteredNoise3(1087:12640) = filter(b2, a2, noise3(1087:end)); % Apply the low-pass filter to the white noise
-
-
- % Add white noise to the sensor signal
- outputArg = inputArg + filteredNoise2 + Backgroundnoise2;
- %pyxis_flight_roccaraso.sensor3 = pyxis_flight_roccaraso.sensor3 + filteredNoise3 + Backgroundnoise3;
-
- end
+ endv
function outputArg = addOffset(obj,inputArg)
diff --git a/commonFunctions/sensors/acquisition_Sys.m b/commonFunctions/sensors/acquisition_Sys.m
index faf4c948..1b4689f1 100644
--- a/commonFunctions/sensors/acquisition_Sys.m
+++ b/commonFunctions/sensors/acquisition_Sys.m
@@ -24,20 +24,48 @@ OUTPUT:
% Revision date: 18/03/2021
%% Baro Acquisition loop
-for i_baro = 1:2
- if isfield(sensorData.barometer_sens{i_baro},'time')
- sp.pn_sens{i_baro} = zeros(1,length(sensorData.barometer_sens{i_baro}.time));
- sp.h_baro_sens{i_baro} = zeros(1,length(sensorData.barometer_sens{i_baro}.time));
- sp.t_baro_sens{i_baro} = sensorData.barometer_sens{i_baro}.time';
-
- for ii=1:length(sensorData.barometer_sens{i_baro}.time)
- s.MS580401BA01.secondPhase = settings.flagAscent;
- sp.pn_sens{i_baro}(ii) = s.MS580301BA01.sens(sensorData.barometer_sens{i_baro}.measures(ii)/100,...
- sensorData.barometer_sens{i_baro}.temperature(ii) - 273.15);
- sp.pn_sens{i_baro}(ii) = sp.pn_sens{i_baro}(ii)*100;
- [~, sp.pn_sens{i_baro}(ii)] = s.MS580301BA01.applyFailure(sp.pn_sens{i_baro}(ii), t);
- sp.h_baro_sens{i_baro}(ii) = -atmospalt(sp.pn_sens{i_baro}(ii),'None');
- end
+% for i_baro = 1:2
+% if isfield(sensorData.barometer_sens{i_baro},'time')
+% sp.pn_sens{i_baro} = zeros(1,length(sensorData.barometer_sens{i_baro}.time));
+% sp.h_baro_sens{i_baro} = zeros(1,length(sensorData.barometer_sens{i_baro}.time));
+% sp.t_baro_sens{i_baro} = sensorData.barometer_sens{i_baro}.time';
+%
+% for ii=1:length(sensorData.barometer_sens{i_baro}.time)
+% s.MS580401BA01.secondPhase = settings.flagAscent;
+% sp.pn_sens{i_baro}(ii) = s.MS580301BA01.sens(sensorData.barometer_sens{i_baro}.measures(ii)/100,...
+% sensorData.barometer_sens{i_baro}.temperature(ii) - 273.15);
+% sp.pn_sens{i_baro}(ii) = sp.pn_sens{i_baro}(ii)*100;
+% [~, sp.pn_sens{i_baro}(ii)] = s.MS580301BA01.applyFailure(sp.pn_sens{i_baro}(ii), t);
+% sp.h_baro_sens{i_baro}(ii) = -atmospalt(sp.pn_sens{i_baro}(ii),'None');
+% end
+% end
+% end
+if isfield(sensorData.barometer_sens{1},'time')
+ sp.pn_sens{1} = zeros(1,length(sensorData.barometer_sens{1}.time));
+ sp.h_baro_sens{1} = zeros(1,length(sensorData.barometer_sens{1}.time));
+ sp.t_baro_sens{1} = sensorData.barometer_sens{1}.time';
+
+ for ii=1:length(sensorData.barometer_sens{1}.time)
+ s.MS580401BA01_1.secondPhase = settings.flagAscent;
+ sp.pn_sens{1}(ii) = s.MS580301BA01_1.sens(sensorData.barometer_sens{1}.measures(ii)/100,...
+ sensorData.barometer_sens{1}.temperature(ii) - 273.15);
+ sp.pn_sens{1}(ii) = sp.pn_sens{1}(ii)*100;
+ [~, sp.pn_sens{1}(ii)] = s.MS580301BA01_1.applyFailure(sp.pn_sens{1}(1), t);
+ sp.h_baro_sens{1}(ii) = -atmospalt(sp.pn_sens{1}(ii),'None');
+ end
+end
+if isfield(sensorData.barometer_sens{2},'time')
+ sp.pn_sens{2} = zeros(1,length(sensorData.barometer_sens{2}.time));
+ sp.h_baro_sens{2} = zeros(1,length(sensorData.barometer_sens{2}.time));
+ sp.t_baro_sens{2} = sensorData.barometer_sens{2}.time';
+
+ for ii=1:length(sensorData.barometer_sens{2}.time)
+ s.MS580401BA01_2.secondPhase = settings.flagAscent;
+ sp.pn_sens{2}(ii) = s.MS580301BA01_2.sens(sensorData.barometer_sens{2}.measures(ii)/100,...
+ sensorData.barometer_sens{2}.temperature(ii) - 273.15);
+ sp.pn_sens{2}(ii) = sp.pn_sens{2}(ii)*100;
+ [~, sp.pn_sens{2}(ii)] = s.MS580301BA01_2.applyFailure(sp.pn_sens{2}(ii), t);
+ sp.h_baro_sens{2}(ii) = -atmospalt(sp.pn_sens{2}(ii),'None');
end
end
if isfield(sensorData.barometer_sens{3},'time')
diff --git a/commonFunctions/sensors/initSensors.m b/commonFunctions/sensors/initSensors.m
index b6b5ad13..eff015d3 100644
--- a/commonFunctions/sensors/initSensors.m
+++ b/commonFunctions/sensors/initSensors.m
@@ -1,4 +1,4 @@
-function [s, sensorTot] = initSensors(lat0, lon0, z0)
+function [s, sensorTot, settings] = initSensors(settings, lat0, lon0, z0)
% Initialize all sensors
% Author: Jan Hammelman
@@ -6,6 +6,75 @@ function [s, sensorTot] = initSensors(lat0, lon0, z0)
% email: jan.hammelmann@skywarder.eu,alessandro.delduca@skywarder.eu
% Release date: 01/03/2021
+
+N_faulty_sensors = 2;
+
+% select which type of fault: "offset" "degradation" "freezing"
+%degradation_type = "offset";
+
+
+% select which sensors will be faulty
+% if N_faulty_sensors == 1
+% settings.which_sens = ceil(rand(1)*3);
+% elseif N_faulty_sensors ==2
+% settings.which_sens = ceil(rand(2,1)*3);
+% while settings.which_sens(1)==settings.which_sens(2)
+% settings.which_sens = ceil(rand(1,2)*3);
+% end
+% else
+% settings.which_sens = [1,2,3];
+% end
+
+% fault parameters
+max_offset = 1300; %Pa
+min_offset = 200; %Pa
+max_degradation = 1300; %Pa
+min_degradation = 200; %Pa
+
+
+offset_value_1 = round((max_offset-min_offset)*rand() + min_offset);
+offset_value_2 = round((max_offset-min_offset)*rand() + min_offset);
+offset_value_3 = round((max_offset-min_offset)*rand() + min_offset);
+
+
+degradation_value_1 = round((max_offset-min_offset)*rand() + min_offset);
+degradation_value_2 = round((max_degradation-min_degradation)*rand() + min_degradation);
+degradation_value_3 = round((max_degradation-min_degradation)*rand() + min_degradation);
+selected_sensors = [];
+fault_type = ["no fault", "no fault", "no fault"];
+for i = 1:N_faulty_sensors
+ rand_fault = randi(3);
+
+ continue_generate = true;
+ while continue_generate
+ continue_generate = false;
+ rand_sensor = randi(3);
+ if length(selected_sensors) > 0
+ iterations_for_selection = length(selected_sensors);
+ else
+ iterations_for_selection = 1;
+ end
+ for j = 1:iterations_for_selection
+ if isempty(selected_sensors) || isequal(rand_sensor, selected_sensors(j))
+ selected_sensors = [selected_sensors, rand_sensor];
+ continue_generate = true;
+ end
+ end
+ end
+ switch rand_fault
+ case 1
+ fault_type(rand_sensor) = "offset";
+ case 2
+ fault_type(rand_sensor) = "degradation";
+ case 3
+ fault_type(rand_sensor) = "freezing";
+ end
+end
+
+
+
+
+
% initial barometer sensor MS580301BA01
ep_p_0 = csvread('ep_p_0.csv');
ep_p_25 = csvread('ep_p_25.csv');
@@ -18,21 +87,58 @@ T = [0*ones(size(ep_p_0(:,1)));25*ones(size(ep_p_25(:,1)));85*ones(size(ep
ep_data = [p_table,T,ep];
-s.MS580301BA01 = Sensor_with_fault_sim(); % presure in mbar, temp should be in C°
-s.MS580301BA01.maxMeasurementRange = 1100; % 1100, 1300 in mbar
-s.MS580301BA01.minMeasurementRange = 300; % 300, 10 in mbar
-s.MS580301BA01.resolution = 0.012; % 0.012, 0.018, 0.027, 0.042, 0.065 in mbar
-%s.MS580301BA01.resolution = 0; % 0.012, 0.018, 0.027, 0.042, 0.065 in mbar
-s.MS580301BA01.noiseVariance = 0.043043; % guess in mbar
-%s.MS580301BA01.noiseVariance = 0;
-s.MS580301BA01.twoPhaseNoise = 0;
-s.MS580301BA01.error2dOffset = ep_data; % [p in mbar, T in celsius, ep in mbar]
+s.MS580301BA01_1 = Sensor_with_fault_sim(); % presure in mbar, temp should be in C°
+s.MS580301BA01_1.maxMeasurementRange = 1100; % 1100, 1300 in mbar
+s.MS580301BA01_1.minMeasurementRange = 300; % 300, 10 in mbar
+s.MS580301BA01_1.resolution = 0.012; % 0.012, 0.018, 0.027, 0.042, 0.065 in mbar % 0.012, 0.018, 0.027, 0.042, 0.065 in mbar
+s.MS580301BA01_1.noiseVariance = 0.043043; % guess in mbar
+s.MS580301BA01_1.error2dOffset = ep_data; % [p in mbar, T in celsius, ep in mbar]
% fault generation
-s.MS580301BA01 = s.MS580301BA01.setOffset(1000); % i don't know the unit of measurment as of now
-s.MS580301BA01.setErrorTime(10); % in seconds
+fault_time = randi(900)/10 + 6;
+switch fault_type(1)
+ case "offset",
+ s.MS580301BA01_1 = s.MS580301BA01_1.setOffset(offset_value_1); % i don't know the unit of measurment as of now
+ s.MS580301BA01_1.setErrorTime(fault_time); % in seconds
+ case "degradation",
+ fault_time = randi(150)/10 + 6;
+ s.MS580301BA01_1 = s.MS580301BA01_1.setDegradation(degradation_value_1); % i don't know the unit of measurment as of now
+ s.MS580301BA01_1.setErrorTime(fault_time); % in seconds
+ case "freezing",
+ s.MS580301BA01_1.setFreezing;
+ s.MS580301BA01_1.setErrorTime(fault_time); % in seconds
+ otherwise
+end
+%disp(degradation_type)
+s.MS580301BA01_2 = Sensor_with_fault_sim(); % presure in mbar, temp should be in C°
+s.MS580301BA01_2.maxMeasurementRange = 1100; % 1100, 1300 in mbar
+s.MS580301BA01_2.minMeasurementRange = 300; % 300, 10 in mbar
+s.MS580301BA01_2.resolution = 0.012; % 0.012, 0.018, 0.027, 0.042, 0.065 in mbar % 0.012, 0.018, 0.027, 0.042, 0.065 in mbar
+s.MS580301BA01_2.noiseVariance = 0.043043; % guess in mbar
+s.MS580301BA01_2.error2dOffset = ep_data; % [p in mbar, T in celsius, ep in mbar]
+
+% fault generation
+fault_time = randi(900)/10 + 6;
+switch fault_type(2)
+ case "offset",
+ s.MS580301BA01_2 = s.MS580301BA01_2.setOffset(offset_value_2); % i don't know the unit of measurment as of now
+ s.MS580301BA01_2.setErrorTime(fault_time); % in seconds
+ case "degradation",
+ fault_time = randi(150)/10 + 6;
+ s.MS580301BA01_2 = s.MS580301BA01_2.setDegradation(degradation_value_2); % i don't know the unit of measurment as of now
+ s.MS580301BA01_2.setErrorTime(fault_time); % in seconds
+ case "freezing",
+ s.MS580301BA01_2.setFreezing;
+ s.MS580301BA01_2.setErrorTime(fault_time); % in seconds
+ otherwise
+end
+%
+% s.MS580301BA01_1 = s.MS580301BA01.setOffset(1000); % i don't know the unit of measurment as of now
+% s.MS580301BA01_1.setErrorTime(10); % in seconds
+% %disp(degradation_type)
+
% barometer Gemini sensors
% sensor 1
s.HSCMRNN015PAAA5 = Sensor_with_fault_sim();
@@ -46,8 +152,21 @@ s.HSCMRNN015PAAA5.noiseVariance = 0.043043; % from flight logs
s.HSCMRNN015PAAA5.twoPhaseNoise = 0;
s.HSCMRNN015PAAA5.error2dOffset = ep_data; % I will leave this like this because I don't know how this works
% fault generation
-%s.HSCMRNN015PAAA5 = s.HSCMRNN015PAAA5.setOffset(1000); % i don't know the unit of measurment as of now
-%s.HSCMRNN015PAAA5 = s.HSCMRNN015PAAA5.setErrorTime(11); % in seconds
+% fault generation
+fault_time = randi(900)/10 + 6;
+switch fault_type(3)
+ case "offset",
+ s.HSCMRNN015PAAA5 = s.HSCMRNN015PAAA5.setOffset(offset_value_3); % i don't know the unit of measurment as of now
+ s.HSCMRNN015PAAA5.setErrorTime(fault_time); % in seconds
+ case "degradation",
+ fault_time = randi(150)/10 + 6;
+ s.HSCMRNN015PAAA5 = s.HSCMRNN015PAAA5.setDegradation(degradation_value_3); % i don't know the unit of measurment as of now
+ s.HSCMRNN015PAAA5.setErrorTime(fault_time); % in seconds
+ case "freezing",
+ s.HSCMRNN015PAAA5.setFreezing;
+ s.HSCMRNN015PAAA5.setErrorTime(fault_time); % in seconds
+ otherwise
+end
% sensor 1
diff --git a/commonFunctions/sensors/linear_svm_predict.m b/commonFunctions/sensors/linear_svm_predict.m
index 041bdfd5..0ff96bee 100644
--- a/commonFunctions/sensors/linear_svm_predict.m
+++ b/commonFunctions/sensors/linear_svm_predict.m
@@ -25,7 +25,7 @@ OUTPUT:
score = -(((x/scale))*beta + bias);
%labeling based on the sign of the score
if(score < 0 || isnan(score))
- classification = true;
+ classification = true; %classifies as faulty
else
classification = false;
end
diff --git a/commonFunctions/sensors/run_SensorFaultDetection_SVM.m b/commonFunctions/sensors/run_SensorFaultDetection_SVM.m
index 5856b417..90c7f0d5 100644
--- a/commonFunctions/sensors/run_SensorFaultDetection_SVM.m
+++ b/commonFunctions/sensors/run_SensorFaultDetection_SVM.m
@@ -78,43 +78,43 @@ release
%WEIGHTED MEAN CALCULATION
- [sp.h_baro, sfd.W1] = wt_mean_h(sfd, sfd.h_baro_prev, h_baro, settings.faulty_sensors, sfd.W1, sfd.max_weight);
+ [sfd, sp.h_baro, sfd.W1] = wt_mean_h(sfd, sfd.h_baro_prev, h_baro, settings.faulty_sensors, sfd.W1, sfd.max_weight);
sfd.h_baro_prev = sp.h_baro(1,1);
- [sp.pn, sfd.W2] = wt_mean_baro(sfd, sfd.pn_prev, pn, settings.faulty_sensors, sfd.W2, sfd.max_weight);
+ [sfd, sp.pn, sfd.W2] = wt_mean_baro(sfd, sfd.pn_prev, pn, settings.faulty_sensors, sfd.W2, sfd.max_weight);
sfd.pn_prev = sp.pn(1,1);
-
-
+ sp.pn_unfiltered = sp.pn;
+
%FILTERS
- if iTimes > 1
- %THE FOLLOWING CODE IS AN IMPLEMENTATION OF A MEDIAN WINDOW FILTER (DEFAULT
- %FILTER WINDOW IS 25)
- for i = 1:sfd.filter_window - 1
- sfd.filter_array_SFD(i) = sfd.filter_array_SFD(i + 1);
- end
- sfd.filter_array_SFD(sfd.filter_window) = sp.pn(1,1);
- if iTimes > sfd.filter_window
- median_filter_baro = medfilt1(sfd.filter_array_SFD, sfd.filter_window);
- sp.pn = ones(1,2).*median_filter_baro(end);
- end
-
-
- %THE FOLLOWING CODE IS AN IMPLEMENTATION OF A DISCRETE LOWPASS FILTER
- sfd.lowpass_filter_baro = sfd.lambda_baro*sfd.lowpass_filter_baro + (sfd.lowpass_filter_gain/sfd.lowpass_filter_cutoff_freq)*(1-sfd.lambda_baro)*sfd.prev_sppn_input;
- sfd.prev_sppn_input = sp.pn(1,1);
- sp.pn = ones(1,2).*sfd.lowpass_filter_baro;
- else
- %filters are only active when there is enough data for it running
- sfd.lowpass_filter_baro = sp.pn(1, 1);
- sfd.prev_sppn_input = sp.pn(1, 1);
- end
+ % if iTimes > 1
+ % %THE FOLLOWING CODE IS AN IMPLEMENTATION OF A MEDIAN WINDOW FILTER (DEFAULT
+ % %FILTER WINDOW IS 25)
+ % for i = 1:sfd.filter_window - 1
+ % sfd.filter_array_SFD(i) = sfd.filter_array_SFD(i + 1);
+ % end
+ % sfd.filter_array_SFD(sfd.filter_window) = sp.pn(1,1);
+ % if iTimes > sfd.filter_window
+ % median_filter_baro = medfilt1(sfd.filter_array_SFD, sfd.filter_window);
+ % sp.pn = ones(1,2).*median_filter_baro(end);
+ % end
+ %
+ %
+ % %THE FOLLOWING CODE IS AN IMPLEMENTATION OF A DISCRETE LOWPASS FILTER
+ % sfd.lowpass_filter_baro = sfd.lambda_baro*sfd.lowpass_filter_baro + (sfd.lowpass_filter_gain/sfd.lowpass_filter_cutoff_freq)*(1-sfd.lambda_baro)*sfd.prev_sppn_input;
+ % sfd.prev_sppn_input = sp.pn(1,1);
+ % sp.pn = ones(1,2).*sfd.lowpass_filter_baro;
+ % else
+ % %filters are only active when there is enough data for it running
+ % sfd.lowpass_filter_baro = sp.pn(1, 1);
+ % sfd.prev_sppn_input = sp.pn(1, 1);
+ % end
settings.sfd = sfd;
end
-function [weighted_transient_mean, W] = wt_mean_h(sfd, prev, V, F, W, max_weight)
+function [sfd, weighted_transient_mean, W] = wt_mean_h(sfd, prev, V, F, W, max_weight)
%{
HELP:
In the scope of fault recovery, it provides a value of the mean between
@@ -151,28 +151,32 @@ function [weighted_transient_mean, W] = wt_mean_h(sfd, prev, V, F, W, max_weight
elseif k> sfd.max_step + sfd.min_step
k = sfd.max_step + sfd.min_step;
end
-
+ sfd.k_height = [sfd.k_height; k];
%weighted mean
for j = 1:length(V(1,:))
W = W_current;
- sum_d = 0;
sum_n = 0;
+ sum_d = 0;
for i = 1:length(V(:, 1))
if isequal(F(i), false) && W(i) + k(1) < max_weight % sensor to be progressively included
W(i) = W(i) + k(1);
+ elseif isequal(F(i), false)
+ W(i) = max_weight;
end
if isequal(F(i), true) && W(i) - k(1) > min_weight % sensor to be progressively excluded
W(i) = W(i) - k(1);
+ elseif isequal(F(i), true)
+ W(i) = min_weight;
end
- sum_d = sum_d + W(i)*V(i);
- sum_n = sum_n + W(i);
+ sum_n = sum_n + W(i)*V(i, j);
+ sum_d = sum_d + W(i);
end
- weighted_transient_mean(j) = sum_d/sum_n;
+ weighted_transient_mean(j) = sum_n/sum_d;
end
end
-function [weighted_transient_mean, W] = wt_mean_baro(sfd, prev, V, F, W, max_weight)
+function [sfd, weighted_transient_mean, W] = wt_mean_baro(sfd, prev, V, F, W, max_weight)
%{
HELP:
In the scope of fault recovery, it provides a value of the mean between
@@ -199,36 +203,39 @@ function [weighted_transient_mean, W] = wt_mean_baro(sfd, prev, V, F, W, max_wei
%}
W_current = W;
min_weight = 0;
+
-
-
+
%weight change step (k) calculation
k = sfd.max_step * (prev - sfd.max_rough_press+100)/(sfd.press_ref - sfd.max_rough_press+100) + sfd.min_step;
-
+
%k saturates k up to a max and a min value
if k < sfd.min_step
k = sfd.min_step;
elseif k> sfd.max_step + sfd.min_step
k = sfd.max_step + sfd.min_step;
end
+ sfd.k_baro = [sfd.k_baro ; k];
-
- %weighted mean
- for j = 1:length(V(1,:))
+ for j = 1:length(V(1,:))
W = W_current;
- sum_d = 0;
sum_n = 0;
+ sum_d = 0;
for i = 1:length(V(:, 1))
- if isequal(F(i), false) && W(i) + k(1) < max_weight % to be kept
+ if isequal(F(i), false) && W(i) + k(1) < max_weight % sensor to be progressively included
W(i) = W(i) + k(1);
+ elseif isequal(F(i), false)
+ W(i) = max_weight;
end
- if isequal(F(i), true) && W(i) - k(1) > min_weight % to be excluded
+ if isequal(F(i), true) && W(i) - k(1) > min_weight % sensor to be progressively excluded
W(i) = W(i) - k(1);
+ elseif isequal(F(i), true)
+ W(i) = min_weight;
end
- sum_d = sum_d + W(i)*V(i);
- sum_n = sum_n + W(i);
+ sum_n = sum_n + W(i)*V(i, j);
+ sum_d = sum_d + W(i);
end
- weighted_transient_mean(j) = sum_d/sum_n;
+ weighted_transient_mean(j) = sum_n/sum_d;
end
end
\ No newline at end of file
diff --git a/data/Gemini_Portugal_October_2023/HIL_CPP_files_ABK/ABK_configABK_Gemini_Portugal_October_2023.csv b/data/Gemini_Portugal_October_2023/HIL_CPP_files_ABK/ABK_configABK_Gemini_Portugal_October_2023.csv
index 4a8c43ea..d689c674 100644
--- a/data/Gemini_Portugal_October_2023/HIL_CPP_files_ABK/ABK_configABK_Gemini_Portugal_October_2023.csv
+++ b/data/Gemini_Portugal_October_2023/HIL_CPP_files_ABK/ABK_configABK_Gemini_Portugal_October_2023.csv
@@ -1,2 +1,2 @@
REFERENCE_DZ,STARTING_FILTER_VALUE,CHANGE_FILTER_MINIMUM_ALTITUDE,CHANGE_FILTER_MAXIMUM_ALTITUDE,ABK_CRITICAL_ALTITUDE,LOWEST_MASS,DELTA_MASS,ESTIMATED_MASS,N_FORWARD
-10,0.9,1000,3000,2990,28,0.2,28.7370387432471,1
+10,0.9,1000,3000,2990,28,0.2,28.7415441276029,1
diff --git a/data/Gemini_Portugal_October_2023/HIL_CPP_files_ABK/ABK_outputABK_Gemini_Portugal_October_2023.csv b/data/Gemini_Portugal_October_2023/HIL_CPP_files_ABK/ABK_outputABK_Gemini_Portugal_October_2023.csv
index 9b7a3e06..057b251a 100644
--- a/data/Gemini_Portugal_October_2023/HIL_CPP_files_ABK/ABK_outputABK_Gemini_Portugal_October_2023.csv
+++ b/data/Gemini_Portugal_October_2023/HIL_CPP_files_ABK/ABK_outputABK_Gemini_Portugal_October_2023.csv
@@ -873,1780 +873,1879 @@ ABK
0
0
0
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diff --git a/data/Gemini_Portugal_October_2023/HIL_CPP_files_ABK/ABK_trajectories_Gemini_Portugal_October_2023.csv b/data/Gemini_Portugal_October_2023/HIL_CPP_files_ABK/ABK_trajectories_Gemini_Portugal_October_2023.csv
index da61e9ad..822bb5dc 100644
--- a/data/Gemini_Portugal_October_2023/HIL_CPP_files_ABK/ABK_trajectories_Gemini_Portugal_October_2023.csv
+++ b/data/Gemini_Portugal_October_2023/HIL_CPP_files_ABK/ABK_trajectories_Gemini_Portugal_October_2023.csv
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+2.68960513191769,-3.82524470505389
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+2.66117579348779,-3.79867533301213
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+2.56978630481936,-3.72568862568656
+2.58794208351233,-3.69419190410588
+2.60578395504308,-3.6629321367124
+2.60578395504308,-3.6629321367124
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+2.53157271060726,-3.66492776754767
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+2.42825494413358,-3.68317885317109
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+1.86365952949359,-3.75515257462015
+1.86365952949359,-3.75515257462015
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+1.83070220382973,-3.73221206728155
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+1.85488475800329,-3.67593479645023
+1.85488475800329,-3.67593479645023
+1.78040734814456,-3.69839295932884
+1.7082487389691,-3.71961278950309
+1.7082487389691,-3.71961278950309
+1.69360958621897,-3.70754529463904
+1.67958541973235,-3.69507317861163
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diff --git a/simulator/OLDOLDOLDOLDOLD/testing/std_run_motorShutdownTesting.m b/simulator/OLDOLDOLDOLDOLD/testing/std_run_motorShutdownTesting.m
index 99afb942..80b2d7c7 100644
--- a/simulator/OLDOLDOLDOLDOLD/testing/std_run_motorShutdownTesting.m
+++ b/simulator/OLDOLDOLDOLDOLD/testing/std_run_motorShutdownTesting.m
@@ -89,7 +89,7 @@ end
%% SENSORS INIT
-[s, c] = initSensors(settings.lat0, settings.lon0, settings.z0);
+[s, c, settings] = initSensors(settings, settings.lat0, settings.lon0, settings.z0);
%% MAGNETIC FIELD MODEL
hmax = settings.hmax;
diff --git a/simulator/configs/configFaults.m b/simulator/configs/configFaults.m
index 2ca3775a..aebc4ae3 100644
--- a/simulator/configs/configFaults.m
+++ b/simulator/configs/configFaults.m
@@ -6,40 +6,40 @@ sensor fault configuration script
%}
% how many faults do you want to simulate?
-N_faulty_sensors = 2;
-
-% select which type of fault: "offset" "degradation" "freezing"
-degradation_type = "offset";
-
-
-% select which sensors will be faulty
-if N_faulty_sensors == 1
-settings.which_sens = ceil(rand(1)*3);
-elseif N_faulty_sensors ==2
- settings.which_sens = ceil(rand(2,1)*3);
- while settings.which_sens(1)==settings.which_sens(2)
- settings.which_sens = ceil(rand(1,2)*3);
- end
-else
- settings.which_sens = [1,2,3];
-end
-
-% fault parameters
-max_offset = 1300; %Pa
-min_offset = 200; %Pa
-max_degradation = 1300; %Pa
-min_degradation = 200; %Pa
-
-
-setting.offset_value_1 = round((max_offset-min_offset)*rand() + min_offset);
-setting.offset_value_2 = round((max_offset-min_offset)*rand() + min_offset);
-setting.offset_value_3 = round((max_offset-min_offset)*rand() + min_offset);
-
-
-setting.degradation_value_1 = round((max_offset-min_offset)*rand() + min_offset);
-setting.degradation_value_2 = round((max_degradation-min_degradation)*rand() + min_degradation);
-setting.degradation_value_3 = round((max_degradation-min_degradation)*rand() + min_degradation);
-
+% N_faulty_sensors = 2;
+%
+% % select which type of fault: "offset" "degradation" "freezing"
+% degradation_type = "offset";
+%
+%
+% % select which sensors will be faulty
+% if N_faulty_sensors == 1
+% settings.which_sens = ceil(rand(1)*3);
+% elseif N_faulty_sensors ==2
+% settings.which_sens = ceil(rand(2,1)*3);
+% while settings.which_sens(1)==settings.which_sens(2)
+% settings.which_sens = ceil(rand(1,2)*3);
+% end
+% else
+% settings.which_sens = [1,2,3];
+% end
+%
+% % fault parameters
+% max_offset = 1300; %Pa
+% min_offset = 200; %Pa
+% max_degradation = 1300; %Pa
+% min_degradation = 200; %Pa
+%
+%
+% setting.offset_value_1 = round((max_offset-min_offset)*rand() + min_offset);
+% setting.offset_value_2 = round((max_offset-min_offset)*rand() + min_offset);
+% setting.offset_value_3 = round((max_offset-min_offset)*rand() + min_offset);
+%
+%
+% setting.degradation_value_1 = round((max_offset-min_offset)*rand() + min_offset);
+% setting.degradation_value_2 = round((max_degradation-min_degradation)*rand() + min_degradation);
+% setting.degradation_value_3 = round((max_degradation-min_degradation)*rand() + min_degradation);
+%
% for i = 1:3
% rand_fault = randi(3);
% switch rand_fault
@@ -51,15 +51,7 @@ setting.degradation_value_3 = round((max_degradation-min_degradation)*rand() + m
% setting.fault_type(i) = "freezing";
% end
% end
-% switch fault_type
-%
-% case "offset"
-%
-% case "degradation"
-%
-% case "freezing"
-%
-% end
+
%% SENSOR FAULT DETECTION PARAMETERS
diff --git a/simulator/configs/configFlags.m b/simulator/configs/configFlags.m
index 31c410a7..0771a624 100644
--- a/simulator/configs/configFlags.m
+++ b/simulator/configs/configFlags.m
@@ -27,7 +27,7 @@ scenarios explanation:
% scenario configuration
-conf.scenario = "controlled ascent";
+conf.scenario = "full flight";
conf.board = "payload"; % Either "main" or "payload"
conf.HIL = false;
diff --git a/simulator/mainSimulator.m b/simulator/mainSimulator.m
index c01326ea..2b3f02ab 100644
--- a/simulator/mainSimulator.m
+++ b/simulator/mainSimulator.m
@@ -54,7 +54,7 @@ config;
% each time
if settings.tuning
- rng('default')
+ %rng('default')
end
%% SET SPECIFIC PARAMETERS FOR A PRE LAUNCH SIMULATION
@@ -75,7 +75,7 @@ end
if ~exist("../commonFunctions/graphics/general-utilities/","dir")
warning('To export file you need to download the repository, read the README file in the folder')
end
-%std_plots(simOutput,settings,contSettings)
+std_plots(simOutput,settings,contSettings)
sensor_plots(simOutput)
%% state visualiser
diff --git a/simulator/src/sensor_plots.m b/simulator/src/sensor_plots.m
index 09ae4803..cd4242e6 100644
--- a/simulator/src/sensor_plots.m
+++ b/simulator/src/sensor_plots.m
@@ -2,11 +2,11 @@ function sensor_plots(structIn)
figure('Position',[100,100,600,400])
hold on;
-plot(structIn.barometer_times,structIn.sfd_mean_p,'DisplayName','SFD output after ADA')
+plot(structIn.barometer_times,structIn.sfd_mean_p,'DisplayName','SFD output after filters')
plot(structIn.barometer_times,structIn.sfd_mean_p_before_filter,'DisplayName','SFD output before filtering')
-%plot(structIn.barometer_times,structIn.barometer_measures{1},'b','DisplayName','Baro 1')
+plot(structIn.barometer_times,structIn.barometer_measures{1},'b','DisplayName','Baro 1')
stairs(structIn.barometer_times,structIn.faults(:,1)*100000,'b--','DisplayName','Fault 1')
-%plot(structIn.barometer_times,structIn.barometer_measures{2},'k','DisplayName','Baro 2')
+plot(structIn.barometer_times,structIn.barometer_measures{2},'k','DisplayName','Baro 2')
stairs(structIn.barometer_times,structIn.faults(:,2)*100000,'k--','DisplayName','Fault 2')
plot(structIn.barometer_times,structIn.barometer_measures{3},'r','DisplayName','Baro 3')
stairs(structIn.barometer_times,structIn.faults(:,3)*100000,'r--','DisplayName','Fault 3')
@@ -44,6 +44,10 @@ delta_baro = structIn.sfd_mean_p - structIn.sfd_mean_p_before_filter;
figure
hold on;
plot(structIn.barometer_times,delta_baro,'DisplayName','SFD filter induced delay in Pa')
-
-
-
+%% k log
+figure
+hold on;
+plot(structIn.barometer_times, structIn.k_height_log, 'DisplayName','Weight step for height')
+plot(structIn.barometer_times, structIn.k_baro_log, 'DisplayName','Weight step for baro')
+legend
+title('Weight step of sensors for weighted mean')
diff --git a/simulator/src/std_run.m b/simulator/src/std_run.m
index dcff2288..3524ac01 100644
--- a/simulator/src/std_run.m
+++ b/simulator/src/std_run.m
@@ -111,7 +111,7 @@ settings.wind.El = El;
settings.wind.Az = Az;
%% SENSORS INIT
-[s, c] = initSensors(settings.lat0, settings.lon0, settings.z0);
+[s, c, settings] = initSensors(settings, settings.lat0, settings.lon0, settings.z0);
%% MAGNETIC FIELD MODEL
std_magneticField;
@@ -380,6 +380,7 @@ while settings.flagStopIntegration && n_old < nmax % St
weight_log_W1 = [weight_log_W1, settings.sfd.W1];
weight_log_W2 = [weight_log_W2, settings.sfd.W2];
sfd_mean_p_before_filter = [sfd_mean_p_before_filter prev_filter_baro_data(end)];
+
n_old = n_old + n -1;
@@ -500,6 +501,8 @@ struct_out.faults = faults;
struct_out.weight_log_W1 = weight_log_W1;
struct_out.weight_log_W2 = weight_log_W2;
struct_out.sfd_mean_p_before_filter = sfd_mean_p_before_filter;
+struct_out.k_height_log = settings.sfd.k_height;
+struct_out.k_baro_log = settings.sfd.k_baro;
if exist('t_airbrakes','var')
struct_out.ARB_allowanceTime = t_airbrakes;
diff --git a/simulator/src/std_run_parts/std_setInitialParams.m b/simulator/src/std_run_parts/std_setInitialParams.m
index a1ee221c..fbd5d820 100644
--- a/simulator/src/std_run_parts/std_setInitialParams.m
+++ b/simulator/src/std_run_parts/std_setInitialParams.m
@@ -138,6 +138,8 @@ sfd_mean_p = [];
weight_log_W1 = [];
weight_log_W2 = [];
sfd_mean_p_before_filter = [];
+settings.sfd.k_height = [];
+settings.sfd.k_baro = [];
%% ADA initial conditions
if settings.flagADA
--
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