Removed outlier filters and artifacts #427
Conversation
avtoku
commented
Jul 9, 2024
avtoku
commented
- Removed outlier filters. This affects the airspeed, barometer, and sonar.
- Removed the (redundant) check for valid data in the comm_manager because those functions are not called unless the data is valid. This affects all send_* functions that have this redundancy.
include/sensors.h
Outdated
| @@ -149,12 +149,12 @@ class Sensors : public ParamListenerInterface | |||
| float diff_pressure_velocity = 0; | |||
| float diff_pressure = 0; | |||
| float diff_pressure_temp = 0; | |||
| bool diff_pressure_valid = false; | |||
| // bool diff_pressure_valid = false; | |||
There was a problem hiding this comment.
Could you remove this line instead of just comment it out?
include/sensors.h
Outdated
|
|
||
| float baro_altitude = 0; | ||
| float baro_pressure = 0; | ||
| float baro_temperature = 0; | ||
| bool baro_valid = false; | ||
| // bool baro_valid = false; |
src/comm_manager.cpp
Outdated
|
|
||
| void CommManager::send_mag(void) | ||
| { | ||
| if (RF_.sensors_.data().mag_present) comm_link_.send_mag(sysid_, RF_.sensors_.data().mag); | ||
| comm_link_.send_mag(sysid_, RF_.sensors_.data().mag); |
There was a problem hiding this comment.
This has tabs instead of spaces. The ROS style guide directs to use spaces instead of tabs, and mixing them makes for very messy formatting. clang-format can fix this for you if you'd like.
There was a problem hiding this comment.
ran clang-tools on that file.
src/comm_manager.cpp
Outdated
| @@ -397,37 +397,30 @@ void CommManager::send_rc_raw(void) | |||
|
|
|||
| void CommManager::send_diff_pressure(void) | |||
| { | |||
| if (RF_.sensors_.data().diff_pressure_valid) { | |||
| comm_link_.send_diff_pressure(sysid_, RF_.sensors_.data().diff_pressure_velocity, | |||
| RF_.sensors_.data().diff_pressure, | |||
| RF_.sensors_.data().diff_pressure_temp); | |||
| } | |||
There was a problem hiding this comment.
I think you have some misaligned brackets and spacing in this file
|
One other question, you mention that these functions are not called unless the data is valid so check if the data is valid is redundant. Where is the other validity check specifically? Is that in the rosflight_firmware code or the board implementation code? |
Most of the checks that were removed were of the form "if(RF_.sensors_.data().mag_present)" and has been replaced with the if "if(got.mag) send_mag();" check in CommManager::stream(got_flags got). Baro, Pitot, and Sonar were also blocked from sending if there were outliers which we are not checking anymore. In addition, board drivers don't report data if the self-status indicates an error. The BMI088 is an exception because it doesn't have a good status to check, and valid GPS packets get sent including status in data packet. |
bsutherland333
force-pushed
the
PTT/remove_outlier_filter
branch
from
579a014 to
4485f7c
Compare
