diff --git a/cmake/boardcore.cmake b/cmake/boardcore.cmake
index 49c749382bc5f0c28f9c8cadaaa283afae039ec5..8d572af0103aba2685bc1a16d9f7753013d16457 100644
--- a/cmake/boardcore.cmake
+++ b/cmake/boardcore.cmake
@@ -41,6 +41,8 @@ foreach(OPT_BOARD ${BOARDS})
${SBS_BASE}/src/shared/algorithms/AirBrakes/AirBrakesInterp.cpp
${SBS_BASE}/src/shared/algorithms/NAS/NAS.cpp
${SBS_BASE}/src/shared/algorithms/NAS/StateInitializer.cpp
+ ${SBS_BASE}/src/shared/algorithms/SFD/SFDAscent.cpp
+ ${SBS_BASE}/src/shared/algorithms/SFD/SFDDescent.cpp
# Debug
${SBS_BASE}/src/shared/utils/Debug.cpp
diff --git a/src/shared/algorithms/SFD/SFDAscent.cpp b/src/shared/algorithms/SFD/SFDAscent.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..fc5d6e54bdbe70fbcb16f91c57e7b7873e9d06c6
--- /dev/null
+++ b/src/shared/algorithms/SFD/SFDAscent.cpp
@@ -0,0 +1,76 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Author: Federico Lolli
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+// ======= Sensor Fault Detection Model (SFDAscent) =======
+
+#pragma once
+
+#include "SFDAscent.h"
+
+#include <algorithms/FFT.h>
+
+namespace Boardcore
+{
+
+SFDAscent::SFDAscent(const SFDAConfig& config) : svm(config.modelParameters) {}
+
+SFDAscent::FeaturesVec SFDAscent::getFeatures(const VectorIn& input)
+{
+ float delta, min, max, u, var, s2, m4, rfmean, rfvar;
+ VectorIn rfourier;
+ VectorIn data, x0 = VectorIn::Zero();
+ FeaturesVec features = FeaturesVec::Zero();
+
+ min = input.minCoeff();
+ max = input.maxCoeff();
+ delta = max - min;
+ for (int i = 0; i < lenChunk; i++)
+ data(i) = (input(i) - min) / (std::max(delta, 1e-25f) * 2) - 1;
+ u = data.mean();
+ x0 = data - u * VectorIn::Ones();
+ var = x0.squaredNorm() / lenChunk;
+ s2 = x0.pow(2).mean();
+ m4 = x0.pow(4).mean();
+
+ rfourier = FFT32::fft(data); // TODO: fix complex -> float
+ rfmean = rfourier.mean();
+ rfvar = (rfourier - rfmean * VectorIn::Ones()).squaredNorm() / lenChunk;
+
+ features(0) = delta;
+ features(1) = var;
+ features(2) = m4 / std::pow(s2, 2);
+ features(3) = data.pow(5).mean();
+ features(4) = rfvar;
+ features(5) = rfourier.cwiseAbs().sum();
+
+ return features;
+}
+
+bool SFDAscent::classify(const VectorIn& input)
+{
+ FeaturesVec features = getFeatures(input);
+ float score = svm.score(features);
+
+ return score < 0;
+}
+
+} // namespace Boardcore
diff --git a/src/shared/algorithms/SFD/SFDAscent.h b/src/shared/algorithms/SFD/SFDAscent.h
new file mode 100644
index 0000000000000000000000000000000000000000..970cf31c7d917f46baa6a285151acc3a286bae2e
--- /dev/null
+++ b/src/shared/algorithms/SFD/SFDAscent.h
@@ -0,0 +1,59 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Author: Federico Lolli
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+// ======= Sensor Fault Detection Model (SFDAscent) =======
+
+#pragma once
+
+#include <models/SVM.h>
+
+#include <Eigen/Core>
+
+namespace Boardcore
+{
+
+class SFDAscent
+{
+public:
+ static constexpr int numFeatures = 6;
+ static constexpr int lenChunk = 32;
+
+ using SVM = SVM<numFeatures>;
+ using FeaturesVec = Eigen::Vector<float, numFeatures>;
+ using VectorIn = Eigen::Vector<float, lenChunk>;
+
+ struct SFDAConfig
+ {
+ SVM::SVMConfig modelParameters;
+ };
+
+ SFDAscent(const SFDAConfig& config);
+
+ bool classify(const VectorIn& input);
+
+private:
+ SVM svm;
+
+ FeaturesVec getFeatures(const VectorIn& input);
+};
+
+} // namespace Boardcore
diff --git a/src/shared/algorithms/SFD/SFDDescent.cpp b/src/shared/algorithms/SFD/SFDDescent.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..f88bc16820be8f3677800bbd2d86281aaa495e07
--- /dev/null
+++ b/src/shared/algorithms/SFD/SFDDescent.cpp
@@ -0,0 +1,72 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Author: Federico Lolli
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+// ======= Sensor Fault Detection Model (SFDAscent) =======
+
+#pragma once
+
+#include "SFDDescent.h"
+
+namespace Boardcore
+{
+
+SFDDescent::SFDDescent(const SFDDConfig& config) : svm(config.modelParameters)
+{
+}
+
+SFDDescent::FeaturesVec SFDDescent::getFeatures(const VectorIn& input)
+{
+ float delta, min, max, u, s2, m3, m4, rms;
+ VectorIn rfourier;
+ VectorIn data, x0 = VectorIn::Zero();
+ FeaturesVec features = FeaturesVec::Zero();
+
+ min = input.minCoeff();
+ max = input.maxCoeff();
+ delta = max - min;
+ for (int i = 0; i < lenChunk; i++)
+ data(i) = (input(i) - min) / (std::max(delta, 1e-25f) * 2) - 1;
+ u = data.mean();
+ x0 = data - u * VectorIn::Ones();
+ s2 = x0.pow(2).mean();
+ m3 = x0.pow(3).mean();
+ m4 = x0.pow(4).mean();
+ rms = std::sqrt(s2);
+
+ features(0) = data.cwiseAbs().maxCoeff() / rms;
+ features(1) = delta;
+ features(2) = u;
+ features(3) = m3 / std::pow(s2, 1.5);
+ features(4) = m4 / std::pow(s2, 2);
+
+ return features;
+}
+
+bool SFDDescent::classify(const VectorIn& input)
+{
+ FeaturesVec features = getFeatures(input);
+ float score = svm.score(features);
+
+ return score < 0;
+}
+
+} // namespace Boardcore
diff --git a/src/shared/algorithms/SFD/SFDDescent.h b/src/shared/algorithms/SFD/SFDDescent.h
new file mode 100644
index 0000000000000000000000000000000000000000..45c043a388adb1370e9e9604e55ca1f1e04c65a6
--- /dev/null
+++ b/src/shared/algorithms/SFD/SFDDescent.h
@@ -0,0 +1,59 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Author: Federico Lolli
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+// ======= Sensor Fault Detection Model (SFDDescent) =======
+
+#pragma once
+
+#include <models/SVM.h>
+
+#include <Eigen/Core>
+
+namespace Boardcore
+{
+
+class SFDDescent
+{
+public:
+ static constexpr int numFeatures = 5;
+ static constexpr int lenChunk = 32;
+
+ using SVM = SVM<numFeatures>;
+ using FeaturesVec = Eigen::Vector<float, numFeatures>;
+ using VectorIn = Eigen::Vector<float, lenChunk>;
+
+ struct SFDDConfig
+ {
+ SVM::SVMConfig modelParameters;
+ };
+
+ SFDDescent(const SFDDConfig& config);
+
+ bool classify(const VectorIn& input);
+
+private:
+ SVM svm;
+
+ FeaturesVec getFeatures(const VectorIn& input);
+};
+
+} // namespace Boardcore
diff --git a/src/shared/models/SVM.h b/src/shared/models/SVM.h
new file mode 100644
index 0000000000000000000000000000000000000000..fe019d6597e786135f6a6ae25e52d1db8e23b2e2
--- /dev/null
+++ b/src/shared/models/SVM.h
@@ -0,0 +1,66 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Author: Federico Lolli
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <Eigen/Dense>
+
+namespace Boardcore
+{
+
+template <int D>
+class SVM
+{
+public:
+ using VectorD = Eigen::Vector<float, D>;
+
+ struct SVMConfig
+ {
+ VectorD beta;
+ VectorD mu;
+ VectorD sigma;
+ float bias;
+ float scale;
+ };
+
+ SVM(const SVMConfig& config)
+ : beta(config.beta), mu(config.mu), sigma(config.sigma),
+ bias(config.bias), scale(config.scale)
+ {
+ }
+
+ float score(VectorD input)
+ {
+ VectorD x = input - mu;
+ x /= sigma;
+ return -((x / scale).dot(beta) + bias);
+ }
+
+private:
+ VectorD beta;
+ VectorD mu;
+ VectorD sigma;
+ float bias;
+ float scale;
+};
+
+} // namespace Boardcore