| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | // This file is part of INSTINCT, the INS Toolkit for Integrated | ||
| 2 | // Navigation Concepts and Training by the Institute of Navigation of | ||
| 3 | // the University of Stuttgart, Germany. | ||
| 4 | // | ||
| 5 | // This Source Code Form is subject to the terms of the Mozilla Public | ||
| 6 | // License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| 7 | // file, You can obtain one at https://mozilla.org/MPL/2.0/. | ||
| 8 | |||
| 9 | #include "PressToHgt.hpp" | ||
| 10 | |||
| 11 | #include "util/Logger.hpp" | ||
| 12 | |||
| 13 | #include "internal/NodeManager.hpp" | ||
| 14 | namespace nm = NAV::NodeManager; | ||
| 15 | #include "internal/FlowManager.hpp" | ||
| 16 | |||
| 17 | #include "NodeData/Baro/BaroPressObs.hpp" | ||
| 18 | #include "NodeData/Baro/BaroHgt.hpp" | ||
| 19 | |||
| 20 | #include "Navigation/Gravity/Gravity.hpp" | ||
| 21 | |||
| 22 | #include "internal/gui/widgets/imgui_ex.hpp" | ||
| 23 | #include "internal/gui/widgets/EnumCombo.hpp" | ||
| 24 | #include "internal/gui/widgets/HelpMarker.hpp" | ||
| 25 | #include "internal/gui/NodeEditorApplication.hpp" | ||
| 26 | |||
| 27 | 112 | NAV::PressToHgt::PressToHgt() | |
| 28 |
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112 | : Node(typeStatic()) |
| 29 | { | ||
| 30 | LOG_TRACE("{}: called", name); | ||
| 31 | 112 | _hasConfig = true; | |
| 32 | 112 | _guiConfigDefaultWindowSize = { 710, 220 }; | |
| 33 | |||
| 34 |
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336 | nm::CreateInputPin(this, "BaroPressObs", Pin::Type::Flow, { NAV::BaroPressObs::type() }, &PressToHgt::receiveObs); |
| 35 | |||
| 36 |
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448 | nm::CreateOutputPin(this, "BaroHgt", Pin::Type::Flow, { NAV::BaroHgt::type() }); |
| 37 | 336 | } | |
| 38 | |||
| 39 | 224 | NAV::PressToHgt::~PressToHgt() | |
| 40 | { | ||
| 41 | LOG_TRACE("{}: called", nameId()); | ||
| 42 | 224 | } | |
| 43 | |||
| 44 | 224 | std::string NAV::PressToHgt::typeStatic() | |
| 45 | { | ||
| 46 |
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448 | return "PressToHgt"; |
| 47 | } | ||
| 48 | |||
| 49 | ✗ | std::string NAV::PressToHgt::type() const | |
| 50 | { | ||
| 51 | ✗ | return typeStatic(); | |
| 52 | } | ||
| 53 | |||
| 54 | 112 | std::string NAV::PressToHgt::category() | |
| 55 | { | ||
| 56 |
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224 | return "Data Processor"; |
| 57 | } | ||
| 58 | |||
| 59 | ✗ | void NAV::PressToHgt::guiConfig() | |
| 60 | { | ||
| 61 | ✗ | float columnWidth = 140.0F * gui::NodeEditorApplication::windowFontRatio(); | |
| 62 | |||
| 63 | ✗ | if (ImGui::InputDouble(fmt::format("Sea-level pressure##{}", size_t(id)).c_str(), &_pressure0, 0.0, 0.0, "%.3f hPa")) | |
| 64 | { | ||
| 65 | LOG_DATA("{}: pressure0 changed to {}", nameId(), _pressure0); | ||
| 66 | ✗ | flow::ApplyChanges(); | |
| 67 | } | ||
| 68 | ✗ | if (ImGui::InputDouble(fmt::format("Sea-level temperature##{}", size_t(id)).c_str(), &_temp0, 0.0, 0.0, "%.3f K")) | |
| 69 | { | ||
| 70 | LOG_DATA("{}: temp0 changed to {}", nameId(), _temp0); | ||
| 71 | ✗ | flow::ApplyChanges(); | |
| 72 | } | ||
| 73 | ✗ | if (ImGui::InputDouble(fmt::format("Temperature lapse rate##{}", size_t(id)).c_str(), &_lapserate, 0.0, 0.0, "%.6f K / m")) | |
| 74 | { | ||
| 75 | LOG_DATA("{}: lapserate changed to {}", nameId(), _lapserate); | ||
| 76 | ✗ | flow::ApplyChanges(); | |
| 77 | } | ||
| 78 | ✗ | if (ImGui::InputDouble(fmt::format("Geoid undulation##{}", size_t(id)).c_str(), &_geoidhgt, 0.0, 0.0, "%.3f m")) | |
| 79 | { | ||
| 80 | LOG_DATA("{}: geoidhgt changed to {}", nameId(), _geoidhgt); | ||
| 81 | ✗ | flow::ApplyChanges(); | |
| 82 | } | ||
| 83 | ✗ | ImGui::SetNextItemWidth(columnWidth); | |
| 84 | ✗ | if (gui::widgets::EnumCombo(fmt::format("Gravity input##{}", size_t(id)).c_str(), _gravityInput)) | |
| 85 | { | ||
| 86 | LOG_DATA("{}: gravity input changed to {}", nameId(), fmt::underlying(_gravityInput)); | ||
| 87 | ✗ | flow::ApplyChanges(); | |
| 88 | } | ||
| 89 | ✗ | ImGui::SameLine(); | |
| 90 | ✗ | gui::widgets::HelpMarker("The 'position' input calculates the gravity magnitude from EGM96.\n\n"); | |
| 91 | ✗ | if (_gravityInput == GravityInput::Manual) | |
| 92 | { | ||
| 93 | ✗ | if (ImGui::InputDouble(fmt::format("Gravity##{}", size_t(id)).c_str(), &_gravity, 0.0, 0.0, "%.5f m / s²")) | |
| 94 | { | ||
| 95 | LOG_DATA("{}: gravity changed to {}", nameId(), _gravity); | ||
| 96 | ✗ | flow::ApplyChanges(); | |
| 97 | } | ||
| 98 | } | ||
| 99 | else // (_gravityInput == GravityInput::Position) | ||
| 100 | { | ||
| 101 | ✗ | if (ImGui::InputDouble3(fmt::format("Position LLA [deg, deg, m]##{}", size_t(id)).c_str(), _initPos.data())) | |
| 102 | { | ||
| 103 | ✗ | flow::ApplyChanges(); | |
| 104 | } | ||
| 105 | } | ||
| 106 | ✗ | } | |
| 107 | |||
| 108 | ✗ | bool NAV::PressToHgt::initialize() | |
| 109 | { | ||
| 110 | LOG_TRACE("{}: called", nameId()); | ||
| 111 | ✗ | if (_gravityInput == GravityInput::Position) | |
| 112 | { | ||
| 113 | ✗ | _gravity = n_calcGravitation_EGM96(_initPos).norm(); | |
| 114 | LOG_DATA("{}: PressToHgt - Local gravity magnitude: {} m/s² at initial position: {} [deg, deg, m]", nameId(), _gravity, _initPos.transpose()); | ||
| 115 | } | ||
| 116 | ✗ | _exponent = _gravity * InsConst::dMtr / InsConst::Rg / _lapserate; | |
| 117 | ✗ | return true; | |
| 118 | } | ||
| 119 | |||
| 120 | ✗ | void NAV::PressToHgt::deinitialize() | |
| 121 | { | ||
| 122 | LOG_TRACE("{}: called", nameId()); | ||
| 123 | ✗ | } | |
| 124 | |||
| 125 | ✗ | [[nodiscard]] json NAV::PressToHgt::save() const | |
| 126 | { | ||
| 127 | LOG_TRACE("{}: called", nameId()); | ||
| 128 | |||
| 129 | ✗ | json j; | |
| 130 | |||
| 131 | ✗ | j["temp0"] = _temp0; | |
| 132 | ✗ | j["pressure0"] = _pressure0; | |
| 133 | ✗ | j["lapserate"] = _lapserate; | |
| 134 | ✗ | j["geoidhgt"] = _geoidhgt; | |
| 135 | ✗ | j["gravity"] = _gravity; | |
| 136 | ✗ | j["initPos"] = _initPos; | |
| 137 | ✗ | j["gravityInput"] = _gravityInput; | |
| 138 | ✗ | return j; | |
| 139 | ✗ | } | |
| 140 | |||
| 141 | ✗ | void NAV::PressToHgt::restore(json const& j) | |
| 142 | { | ||
| 143 | LOG_TRACE("{}: called", nameId()); | ||
| 144 | |||
| 145 | ✗ | if (j.contains("temp0")) | |
| 146 | { | ||
| 147 | ✗ | j.at("temp0").get_to(_temp0); | |
| 148 | } | ||
| 149 | ✗ | if (j.contains("pressure0")) | |
| 150 | { | ||
| 151 | ✗ | j.at("pressure0").get_to(_pressure0); | |
| 152 | } | ||
| 153 | ✗ | if (j.contains("lapserate")) | |
| 154 | { | ||
| 155 | ✗ | j.at("lapserate").get_to(_lapserate); | |
| 156 | } | ||
| 157 | ✗ | if (j.contains("geoidhgt")) | |
| 158 | { | ||
| 159 | ✗ | j.at("geoidhgt").get_to(_geoidhgt); | |
| 160 | } | ||
| 161 | ✗ | if (j.contains("gravity")) | |
| 162 | { | ||
| 163 | ✗ | j.at("gravity").get_to(_gravity); | |
| 164 | } | ||
| 165 | ✗ | if (j.contains("initPos")) | |
| 166 | { | ||
| 167 | ✗ | j.at("initPos").get_to(_initPos); | |
| 168 | } | ||
| 169 | ✗ | if (j.contains("gravityInput")) | |
| 170 | { | ||
| 171 | ✗ | j.at("gravityInput").get_to(_gravityInput); | |
| 172 | } | ||
| 173 | ✗ | } | |
| 174 | |||
| 175 | ✗ | void NAV::PressToHgt::receiveObs(NAV::InputPin::NodeDataQueue& queue, size_t /* pinIdx */) | |
| 176 | { | ||
| 177 | ✗ | auto pressureObs = std::static_pointer_cast<const BaroPressObs>(queue.extract_front()); | |
| 178 | |||
| 179 | ✗ | auto baroheight = std::make_shared<BaroHgt>(); | |
| 180 | |||
| 181 | ✗ | baroheight->insTime = pressureObs->insTime; | |
| 182 | |||
| 183 | ✗ | baroheight->baro_height = _temp0 / _lapserate * (1.0 - std::pow(pressureObs->baro_pressure / _pressure0, 1.0 / _exponent)) + _geoidhgt; | |
| 184 | |||
| 185 | // if uncertainty of pressure value is provided carry out error propagation for barometric height (assuming all other parameters are error free) | ||
| 186 | ✗ | if (pressureObs->baro_pressureStdev.has_value()) | |
| 187 | { | ||
| 188 | ✗ | baroheight->baro_heightStdev = std::fabs(_temp0 / (_lapserate * _exponent * pressureObs->baro_pressure) * std::pow(pressureObs->baro_pressure / _pressure0, 1.0 / _exponent - 1.0)) * pressureObs->baro_pressureStdev.value(); | |
| 189 | } | ||
| 190 | |||
| 191 | ✗ | invokeCallbacks(OUTPUT_PORT_INDEX_BAROHEIGHT, baroheight); | |
| 192 | ✗ | } | |
| 193 |