From f3f141680333ec859339788f0ac2c7512cc230ed Mon Sep 17 00:00:00 2001
From: Stefano Belletti <stefano.belletti@skywarder.eu>
Date: Fri, 17 Jan 2025 11:57:14 +0100
Subject: [PATCH] New .update function for all sensors, SensorFault<Sensor1D
---
commonFunctions/sensors/Sensor1D.m | 8 +-
commonFunctions/sensors/SensorFault.m | 254 +++---------------
.../initSensors2024_Lyra_Portugal_October.m | 18 +-
3 files changed, 52 insertions(+), 228 deletions(-)
diff --git a/commonFunctions/sensors/Sensor1D.m b/commonFunctions/sensors/Sensor1D.m
index 5b4d509..8470de0 100644
--- a/commonFunctions/sensors/Sensor1D.m
+++ b/commonFunctions/sensors/Sensor1D.m
@@ -87,10 +87,10 @@ classdef Sensor1D < handle
if found
obj.noiseType = vect(ii).noise_type;
- if isa(obj,"Sensor1D") || isa(obj,"SensorFault")
+ if strcmp("Sensor1D", class(obj)) || strcmp("SensorFault", class(obj))
obj.noiseDataTrack1 = vect(ii).track1;
obj.noiseFactor = vect(ii).factor;
- elseif isa(obj,"Sensor3D") || isa(obj,"SensorGPS")
+ elseif strcmp("Sensor3D", class(obj)) || strcmp("SensorGPS", class(obj))
obj.noiseDataTrack1 = vect(ii).track1;
obj.noiseDataTrack2 = vect(ii).track2;
obj.noiseDataTrack3 = vect(ii).track3;
@@ -99,9 +99,9 @@ classdef Sensor1D < handle
error("Sensor not defined")
end
else
- if isa(obj,"Sensor1D") || isa(obj,"SensorFault")
+ if strcmp("Sensor1D", class(obj)) || strcmp("SensorFault", class(obj))
obj.noiseDataTrack1 = [];
- elseif isa(obj,"Sensor3D") || isa(obj,"SensorGPS")
+ elseif strcmp("Sensor3D", class(obj)) || strcmp("SensorGPS", class(obj))
obj.noiseDataTrack1 = [];
obj.noiseDataTrack2 = [];
obj.noiseDataTrack3 = [];
diff --git a/commonFunctions/sensors/SensorFault.m b/commonFunctions/sensors/SensorFault.m
index c201e86..6c41382 100644
--- a/commonFunctions/sensors/SensorFault.m
+++ b/commonFunctions/sensors/SensorFault.m
@@ -1,46 +1,22 @@
-classdef SensorFault < handle
-
- % Author: Jan Hammelman
- % Skyward Experimental Rocketry | ELC-SCS Dept | electronics@skywarder.eu
- % email: jan.hammelmann@skywarder.eu,alessandro.delduca@skywarder.eu
- % Release date: 01/03/2021
-
- %SENSOR Super call for all sensor
- % Inherit from handle to have state variables which can be changed
- % inside a method
- % update: Alessandro Donadi, 31/08/2023
- %NOTE ON THE UPDATE:
- % Added fault simulation capabilities from the faliure simulator made
- % by Angelo G. Gaillet and released on 31/07/2022
- properties (Access='public')
- minMeasurementRange; % Max limit of sensor
- maxMeasurementRange; % Min limit of sensor
-
- bit; % number of bits for the sensor ( if available)
- resolution; % resolution of the sensor
-
- % noises
- noiseType; % White (default) or Pink
- noiseDataTrack1;
- noiseFactor;
- noiseVariance; % Varianze for the gaussian white noise
-
- offset; % Offset in all directions
-
- tempOffset; % Coefficent for temperature depending offset
-
- dt; % Sampling time
-
- error2dOffset; % first column: inputArg, second column: relativeArg, third column: error
+classdef SensorFault < Sensor1D
+
+ % Author: Stefano Belletti, Samuel Flore
+ % Skyward Experimental Rocketry | AVN - GNC
+ % email: stefano.belletti@skywarder.eu
+ % Release date: 18/11/2024
+ %
+ % Sensor class for SensorFault
+ %
+ % Creating a new sensor: [obj] = Sensor1D()
+ properties (Access='public')
fault_time; % if set to -1 it will be randomly chosen between a min and a max time in seconds
max_fault_time; %upper bound of the time window where the fault can occur in case it's randomly chosen
min_fault_time; %lower bound of the time window where the fault can occur in case it's randomly chosen
- end
- properties (Access = public) %attributes used for fault simulation
+ % attributes used for fault simulation
failureType;
fault_offset;
lambda;
@@ -231,191 +207,33 @@ classdef SensorFault < handle
methods (Access='protected')
- function outputArg = saturation(obj,inputArg)
- %SATURATION Includes saturation to the sensor model
- % inputArg is limited to minMeasurementRange at the lower end and maxMeasurementRange at the upper end
- %
- % Necessary properties:
- % minMeasurementRange: Max limit of sensor
- % maxMeasurementRange: Min limit of sensor
- %
- % Inputs:
- % inputArg: sensor data
- %
- % Outputs:
- % outputArg: sensor data with saturation
-
- % checks if sensor data is higher than max possible value
- if (~isempty(obj.maxMeasurementRange))
- inputArg(inputArg>obj.maxMeasurementRange)=obj.maxMeasurementRange;
- end
-
- % checks if sensor data is lower than min possible value
- if (~isempty(obj.minMeasurementRange))
- inputArg(inputArg<obj.minMeasurementRange)=obj.minMeasurementRange;
- end
-
- outputArg = inputArg;
- end
-
-
- function outputArg = quantization(obj,inputArg)
- %QUATIZATION Quantize the sensor data
- % Quantizes the signal with the resolution properie of the object
- %
- % Necessary properties:
- % resolution: resolution of the sensor
- %
- % Inputs:
- % inputArg: sensor data
- %
- % Outputs:
- % outputArg: quantized sensor data
-
- if (~isempty(obj.resolution))
- inputArg = obj.resolution*round(inputArg/obj.resolution);
- end
- outputArg = inputArg;
- end
-
-
- function outputArg = addNoise(obj,inputArg,t)
- %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
-
- % if (~isempty(obj.noiseVariance))
- % %inputArg=inputArg+ones(size(inputArg)).*sqrt(obj.noiseVariance).*randn(1,1);,
- % inputArg=inputArg+sqrt(obj.noiseVariance).*randn(size(inputArg));
- % end
- % outputArg = inputArg;
-
- if ~isempty(obj.noiseVariance) % check for old results
- inputArg = inputArg + sqrt(obj.noiseVariance).*randn(length(inputArg),1);
- elseif ~isempty(obj.noiseDataTrack1)
- if strcmp(obj.noiseType, "white")
- inputArg = inputArg + sqrt(obj.noiseDataTrack1*obj.noiseFactor).*randn(length(inputArg),1);
- elseif strcmp(obj.noiseType, "pink")
- for ii = 1:length(obj.noiseDataTrack1.peaks_vect_f)
- inputArg = inputArg + obj.noiseDataTrack1.peaks_vect_val(ii)*obj.noiseFactor*sin(2*pi*obj.noiseDataTrack1.peaks_vect_f(ii)*t + randn(1));
- end
- inputArg = inputArg + sqrt(obj.noiseDataTrack1.variance*obj.noiseFactor).*randn(length(inputArg),1);
- else
- error("This noise is not defined")
- end
- end
-
- outputArg = inputArg;
- end
-
-
- function outputArg = addOffset(obj,inputArg)
- %ADD_OFFSET Adds an offset to the signal
- % adds the propertie offset to the input signal
- %
- % Necessary properties:
- % offset: Offset in all directions
- %
- % Inputs:
- % inputArg: sensor data
- %
- % Outputs:
- % outputArg: sensor data plus offset
-
- if (~isempty(obj.offset))
- inputArg=inputArg+ones(size(inputArg)).*obj.offset;
- end
- outputArg = inputArg;
- end
-
-
- function outputArg = addTempOffset(obj,inputArg,temp)
- %ADD_Temp_OFFSET Adds an temperature dependen offset to the signal
- % adds the propertie tempOffset multiplied by the temperature input temp to the input signal
- %
- % Necessary properties:
- % tempOffset: Coefficent for temperature depending offset
- %
- % Inputs:
- % inputArg: sensor data
- % temp: temperature of the sensor
- %
- % Outputs:
- % outputArg: sensor data plus temerature depending offset
-
- if (~isempty(obj.tempOffset))
- inputArg=inputArg+ones(size(inputArg)).*temp*obj.tempOffset;
- end
- outputArg = inputArg;
- end
-
-
- function outputArg = add2DOffset(obj,inputArg,temp)
- %ADD_2D_OFFSET Adds a offset that depends on the inputArg and temp
- % The offset is linear interpolated with the data in matrice error2dOffset
- %
- % Necessary properties:
- % error2dOffset: data for offset with first column: inputArg, second column: relativeArg, third column: error
- %
- % Inputs:
- % inputArg: sensor data
- % temp: temperature of the sensor
- %
- % Outputs:
- % outputArg: sensor data plus 2D depending offset
-
- if (~isempty(obj.error2dOffset))
- inputArg=inputArg+...
- griddata(obj.error2dOffset(:,1),obj.error2dOffset(:,2),obj.error2dOffset(:,3),inputArg,temp);
- end
- outputArg = inputArg;
- end
-
function obj = reset(obj) %method
- obj.failureType = 'None';
- obj.fault_offset = 0;
- obj.lambda = 0;
- obj.sigmaDeg = 0;
- obj.sigmaIS = 0;
- obj.tError = 0;
- obj.gain = 1;
- obj.value = 0;
- obj.likelihoodFS = 0;
- obj.likelihoodIS = 0;
- obj.alsoNegSpikes = false;
- obj.severity = 0;
- obj.randomSpikeAmpl = false;
- obj.satMax = inf;
- obj.satMin = -inf;
- obj.settings.saturateFlag = false;
- obj.settings.bias = false;
- obj.settings.drift = false;
- obj.settings.degradation = false;
- obj.settings.freezing = false;
- obj.settings.calerr = false;
- obj.settings.fs = false;
- obj.settings.is = false;
-
- obj.frozenValue = nan;
- end
+ obj.failureType = 'None';
+ obj.fault_offset = 0;
+ obj.lambda = 0;
+ obj.sigmaDeg = 0;
+ obj.sigmaIS = 0;
+ obj.tError = 0;
+ obj.gain = 1;
+ obj.value = 0;
+ obj.likelihoodFS = 0;
+ obj.likelihoodIS = 0;
+ obj.alsoNegSpikes = false;
+ obj.severity = 0;
+ obj.randomSpikeAmpl = false;
+ obj.satMax = inf;
+ obj.satMin = -inf;
+ obj.settings.saturateFlag = false;
+ obj.settings.bias = false;
+ obj.settings.drift = false;
+ obj.settings.degradation = false;
+ obj.settings.freezing = false;
+ obj.settings.calerr = false;
+ obj.settings.fs = false;
+ obj.settings.is = false;
-
- end
-
- methods (Access = private)
-
- function data = saturate(data)
- data = max(obj.satMin, min(obj.satMax, data));
+ obj.frozenValue = nan;
end
-
end
end
diff --git a/data/2024_Lyra_Portugal_October/initSensors2024_Lyra_Portugal_October.m b/data/2024_Lyra_Portugal_October/initSensors2024_Lyra_Portugal_October.m
index 3ba0538..8de0bb4 100644
--- a/data/2024_Lyra_Portugal_October/initSensors2024_Lyra_Portugal_October.m
+++ b/data/2024_Lyra_Portugal_October/initSensors2024_Lyra_Portugal_October.m
@@ -13,9 +13,9 @@ sensorSettings.barometer1 = SensorFault();
sensorSettings.barometer1.maxMeasurementRange = 1000; % 1100, 1300 in mbar
sensorSettings.barometer1.minMeasurementRange = 0; % 300, 10 in mbar
sensorSettings.barometer1.bit = 24; % adc on rocket is 24 bits
-sensorSettings.barometer1.resolution = (sensorSettings.barometer1.maxMeasurementRange -sensorSettings.barometer1.minMeasurementRange)/(2^sensorSettings.barometer1.bit);
+% sensorSettings.barometer1.resolution = (sensorSettings.barometer1.maxMeasurementRange -sensorSettings.barometer1.minMeasurementRange)/(2^sensorSettings.barometer1.bit);
-sensorSettings.barometer1 = loadSensorNoiseData(sensorSettings.barometer1, Lyra_Port_sensor_vect, "main_Main_StaticPressureData1.csv", 1);
+% sensorSettings.barometer1 = loadSensorNoiseData(sensorSettings.barometer1, Lyra_Port_sensor_vect, "main_Main_StaticPressureData1.csv", 1);
% sensorSettings.barometer1.noiseVariance = 1; % mbar^2
sensorSettings.barometer1.fault_time = 9; % if negative it will be generated at random between a max and a min value
@@ -38,15 +38,17 @@ switch settings.fault_sim.fault_type(1)
otherwise
end
+sensorSettings.barometer1.update(Lyra_Port_sensor_vect, "main_Main_StaticPressureData1.csv", 1);
+
%% barometer2 - static measure (HSCMAND001BAAA5)
% NOTE: pressure in mbar, temp should be in C°
sensorSettings.barometer2 = SensorFault();
sensorSettings.barometer2.maxMeasurementRange = 1000; % 1100, 1300 in mbar
sensorSettings.barometer2.minMeasurementRange = 0; % 300, 10 in mbar
sensorSettings.barometer2.bit = 24; % adc on rocket is 24 bits
-sensorSettings.barometer2.resolution = (sensorSettings.barometer2.maxMeasurementRange -sensorSettings.barometer2.minMeasurementRange)/(2^sensorSettings.barometer2.bit);
+% sensorSettings.barometer2.resolution = (sensorSettings.barometer2.maxMeasurementRange -sensorSettings.barometer2.minMeasurementRange)/(2^sensorSettings.barometer2.bit);
-sensorSettings.barometer2 = loadSensorNoiseData(sensorSettings.barometer2, Lyra_Port_sensor_vect, "main_Main_StaticPressureData2.csv", 1);
+% sensorSettings.barometer2 = loadSensorNoiseData(sensorSettings.barometer2, Lyra_Port_sensor_vect, "main_Main_StaticPressureData2.csv", 1);
% sensorSettings.barometer2.noiseVariance = 1; % mbar^2
sensorSettings.barometer2.fault_time = -1; % if negative it will be generated at random between a max and a min value
@@ -69,15 +71,17 @@ switch settings.fault_sim.fault_type(2)
otherwise
end
+sensorSettings.barometer2.update(Lyra_Port_sensor_vect, "main_Main_StaticPressureData2.csv", 1);
+
%% barometer3 - digital measure (LPS28DFWTR)
% NOTE: pressure in mbar, temp should be in C°
sensorSettings.barometer3 = SensorFault();
sensorSettings.barometer3.maxMeasurementRange = 4060; % 1100, 1300 in mbar
sensorSettings.barometer3.minMeasurementRange = 260; % 300, 10 in mbar
sensorSettings.barometer3.bit = 24;
-sensorSettings.barometer3.resolution = (sensorSettings.barometer3.maxMeasurementRange -sensorSettings.barometer3.minMeasurementRange)/(2^sensorSettings.barometer3.bit);
+% sensorSettings.barometer3.resolution = (sensorSettings.barometer3.maxMeasurementRange -sensorSettings.barometer3.minMeasurementRange)/(2^sensorSettings.barometer3.bit);
-sensorSettings.barometer3 = loadSensorNoiseData(sensorSettings.barometer3, Lyra_Port_sensor_vect, "main_Boardcore_LPS28DFWData.csv", 1);
+% sensorSettings.barometer3 = loadSensorNoiseData(sensorSettings.barometer3, Lyra_Port_sensor_vect, "main_Boardcore_LPS28DFWData.csv", 1);
% sensorSettings.barometer3.noiseVariance = 4.06; % guess in mbar
sensorSettings.barometer3.fault_time = -1; % if negative it will be generated at random between a max and a min value
@@ -100,6 +104,8 @@ switch settings.fault_sim.fault_type(3)
otherwise
end
+sensorSettings.barometer3.update(Lyra_Port_sensor_vect, "main_Boardcore_LPS28DFWData.csv", 1);
+
%% accelerometer (6 dof imu - LSM6DSRXTR)
% NOTE: acceleration in mg
sensorSettings.accelerometer = Sensor3D();
--
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