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ModelSpace
Documentation for ModelSpace models and classes.
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ModelSpace
Documentation for ModelSpace models and classes.
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/******************************************************************************
* Copyright (c) ATTX INC 2025. All Rights Reserved.
*
* This software and associated documentation (the "Software") are the
* proprietary and confidential information of ATTX, INC. The Software is
* furnished under a license agreement between ATTX and the user organization
* and may be used or copied only in accordance with the terms of the agreement.
* Refer to 'license/attx_license.adoc' for standard license terms.
*
* EXPORT CONTROL NOTICE: THIS SOFTWARE MAY INCLUDE CONTENT CONTROLLED UNDER THE
* INTERNATIONAL TRAFFIC IN ARMS REGULATIONS (ITAR) OR THE EXPORT ADMINISTRATION
* REGULATIONS (EAR99). No part of the Software may be used, reproduced, or
* transmitted in any form or by any means, for any purpose, without the express
* written permission of ATTX, INC.
******************************************************************************/
/*
Pressure Sensor model header file
Author: James Tabony
*/
/*
Metadata for MS GUI:
imdata = {"exclude" : True}
*/
#ifndef MODELS_SENSORS_PRESSURE_SENSOR_H
#define MODELS_SENSORS_PRESSURE_SENSOR_H
#include "simulation/Model.h"
#include "models/support/MarkovUncertaintyModel.h"
#include "monitors/RateMonitor.h"
#include "utils/LatencyUtil.hpp"
namespace modelspace {
/**
* @brief Pressure Sensor Model
*
* This model simulates a simple pressure sensor, gathering data from the MSIS
* atmospheric model or some other external atmosphere model at a specified rate.
*
* HOW DOES THIS MODEL HANDLE NOISE:
* The typical barometric pressure sensor has some amount of additive noise in the
* pressure measurement that can be modeled as Gaussian white noise with a standard
* deviation that is dependent on the oversample ratio (OSR) of the sensors Analog
* to Digital Converter (ADC). This quantity is often labled as resolution in a data
* sheet and should not get confused with measurement resolution which is defined as
* measurement range / bits per measurement.
*
* The typical pressure sensor also has some bias even after factory calibration. This
* bias is very stable (~mbar/year) so the bias random walk doesn't need to be modeled
* for the majority of missions that would use a pressure sensor. The bias is constant
* as a function of time, however it is not constant as a function of temperature. Most
* pressure sensor data sheets will have different temperature bands where the bias
* will change.
*
* The majority of pressure sensors operate through an ADC which requires some internal
* factory calibrated polynomial function to convert the voltage source into a pressure
* reading. The internal polynomial are subject to manufacturing tolerances. To account
* for the error in this voltage to pressure conversion, multiplicative error can be used.
* The percent error should be very small (~0.1%) becuase the additive error is still
* accounted for.
*
* Typically the noise profile (additive, multiplicative, and biasing) are all dependent
* on temperature. Because of this, the model has the values as inputs. The user has the
* choice to repeatedly input new noise characteristics based on an external model, or input
* them once and it be held constant.
*
* Author: James Tabony <james.tabony@attx.tech>
*
* TODO: Set up sat select
* TODO: Make model work in GUI
*/
/// @brief Sensor output struct for latency model, its members are the same as the model outputs. Its default constructor populates members with defualt output values
struct _pressure_output_struct {
double meas_pressure;
bool is_valid;
// Default constuctor (should populate with model defualt outputs)
_pressure_output_struct()
: meas_pressure(0.0), is_valid(false) {}
// Custom constructor
_pressure_output_struct(double meas_pressure, bool is_valid)
: meas_pressure(meas_pressure), is_valid(is_valid) {}
};
MODEL(PressureSensor)
public:
// Model params
// NAME TYPE DEFAULT VALUE
START_PARAMS
/** The minimum pressure that the sensor can record. (Pascals) */
SIGNAL(min_pressure, double, 0.0)
/** The maximum pressure that the sensor can record. (Pascals) */
SIGNAL(max_pressure, double, 0.0)
/** The measurement resolution. The output value will be some multiple of this value. If the
* value is left at zero, an infinite resolution will be assumed, i.e. no data loss/quantinization.
* From a data sheet, this value can be computed as (measurement range) / 2^(bits per measurement) . (Pascals) */
SIGNAL(resolution, double, 0.0)
/** The rate at which the sensor generates an output, in hertz. This value must be some
* positive (non-zero) integer. (Hz) */
SIGNAL(rate_hz, int, 0)
/** Value to seed the internal RNG for this model. */
SIGNAL(seed_value, int, 0)
/** Latency of the pressure sensor, millisecond value for the amount of delay in sim time for
* the correct values to be reflected in the outputs. Must be set before executive startup.
* Defaults to no delay. (milliseconds) */
SIGNAL(latency, int, 0)
/** Power draw of the pressure sensor. This value may or may not be the peak power draw provided by most
* data sheets. This value is the expected power draw of a sensor when operational. (Watts) */
SIGNAL(operational_power_draw, double, 0.0)
/** Mass of the pressure sensor. (kg) */
SIGNAL(mass, double, 0.0)
END_PARAMS
// Model inputs
// NAME TYPE DEFAULT VALUE
START_INPUTS
/** Local pressure from a atmosphere model, no incorporated noise. (Pascals) */
SIGNAL(perfect_pressure, double, 0.0)
/** The bias in measurement output described as a double. Default is no bias.
* This value can change with an external model, i.e. temperature effects. (Pascals) */
SIGNAL(bias, double, 0.0)
/** The one-sigma gaussian noise in measurement output described as a double.
* Default is no noise. This value can change with en external model, i.e. modeling
* temperature effects. (Pascals) */
SIGNAL(gaussian_noise_std, double, 0.0)
/** The one-sigma scale percent increase/decrease of the measurement. Default is no scaling. */
SIGNAL(scale_factor_std, double, 0.0)
END_INPUTS
// Model outputs
// NAME TYPE DEFAULT VALUE
START_OUTPUTS
/** The measured output pressure produced by the pressure sensor describing the
* local pressure of the sensor frame through the configured atmospheric model.
* Appropiate bias, noise, scaling, rate limiting, deadzoning, and resolution
* applied. The model outputs zero when in the blackout zone. (Pascals) */
SIGNAL(meas_pressure, double, 0.0)
/** Boolean value to notify if the output measurement is valid (i.e. boolean for
* blackout-zones). True = not in blackout-zone, False = in blackout-zone. */
SIGNAL(is_valid, bool, false)
/** Power draw of the sensor. This value is populated when the model is active, and zero
* when the model is deactive. Allows the user to create duty cycles and power budgets. (Watts) */
SIGNAL(current_power_draw, double, 0.0)
END_OUTPUTS
/// @brief Accessor for the internal noise model
/// @return Pointer to the internal noise model
modelspace::MarkovUncertaintyModel* getNoiseModel() {return &_sensor_noise_model;}
/// @brief Accessor for the internal rate monitor model
/// @return Pointer to the rate monitor model
modelspace::RateMonitor* rateMonitor() {return &_rate_monitor;}
int16 activate() override;
int16 deactivate() override;
protected:
int16 start() override;
int16 execute() override;
/// @brief Function to configure sensor -- runs in all constructors
void _configureInternal();
/// @brief The bias and noise model for sensor output.
MarkovUncertaintyModel _sensor_noise_model;
/// @brief Rate monitor to control the rate at which the sensor runs
RateMonitor _rate_monitor;
/// @brief Temporary variable to hold the measured pressure before bound
/// checks and reolution quantinization
double _meas_pres;
/// @brief Internal latency model, templated to the sensor output struct
LatencyUtil<_pressure_output_struct> _latency_model;
/// @brief Temporary variable for the latest recorded output added to latency model and dummy output for stepping though latency
_pressure_output_struct _last_output, _latency_return;
};
}
#endif
1.9.1