mirror of
https://github.com/thooge/esp32-nmea2000-obp60.git
synced 2026-02-11 07:03:07 +01:00
Update data calibration: calibration in main loop on boat data values:
- modified code to calibrate affected boat data each second in main obp60task loop; - removed individual calibration call in all pages - moved code from BoatDataCalibration to OBPDataOperations - added DBS and HDT to list of supported data calibration types - changed output format for wind angles from [-180..180] to [0..360], because negative value are not displayed properly on pages
This commit is contained in:
Ulrich Meine
@@ -1,5 +1,221 @@
|
||||
#include "OBPDataOperations.h"
|
||||
#include "BoatDataCalibration.h" // Functions lib for data instance calibration
|
||||
//#include "BoatDataCalibration.h" // Functions lib for data instance calibration
|
||||
|
||||
// --- Class CalibrationData ---------------
|
||||
CalibrationData::CalibrationData(GwLog* log)
|
||||
{
|
||||
logger = log;
|
||||
}
|
||||
|
||||
void CalibrationData::readConfig(GwConfigHandler* config)
|
||||
// Initial load of calibration data into internal list
|
||||
// This method is called once at init phase of <obp60task> to read the configuration values
|
||||
{
|
||||
std::string instance;
|
||||
double offset;
|
||||
double slope;
|
||||
double smooth;
|
||||
|
||||
String calInstance = "";
|
||||
String calOffset = "";
|
||||
String calSlope = "";
|
||||
String calSmooth = "";
|
||||
|
||||
// Load user format configuration values
|
||||
String lengthFormat = config->getString(config->lengthFormat); // [m|ft]
|
||||
String distanceFormat = config->getString(config->distanceFormat); // [m|km|nm]
|
||||
String speedFormat = config->getString(config->speedFormat); // [m/s|km/h|kn]
|
||||
String windspeedFormat = config->getString(config->windspeedFormat); // [m/s|km/h|kn|bft]
|
||||
String tempFormat = config->getString(config->tempFormat); // [K|C|F]
|
||||
|
||||
// Read calibration settings for data instances
|
||||
for (int i = 0; i < MAX_CALIBRATION_DATA; i++) {
|
||||
calInstance = "calInstance" + String(i + 1);
|
||||
calOffset = "calOffset" + String(i + 1);
|
||||
calSlope = "calSlope" + String(i + 1);
|
||||
calSmooth = "calSmooth" + String(i + 1);
|
||||
|
||||
instance = std::string(config->getString(calInstance, "---").c_str());
|
||||
if (instance == "---") {
|
||||
LOG_DEBUG(GwLog::LOG, "No calibration data for instance no. %d", i + 1);
|
||||
continue;
|
||||
}
|
||||
|
||||
calibrationMap[instance] = { 0.0f, 1.0f, 1.0f, 0.0f, false };
|
||||
offset = (config->getString(calOffset, "")).toDouble();
|
||||
slope = (config->getString(calSlope, "")).toDouble();
|
||||
smooth = (config->getString(calSmooth, "")).toInt(); // user input is int; further math is done with double
|
||||
|
||||
if (slope == 0.0) {
|
||||
slope = 1.0; // eliminate adjustment if user selected "0" -> that would set the calibrated value to "0"
|
||||
}
|
||||
|
||||
// Convert calibration values from user input format to internal standard SI format
|
||||
if (instance == "AWS" || instance == "TWS") {
|
||||
if (windspeedFormat == "m/s") {
|
||||
// No conversion needed
|
||||
} else if (windspeedFormat == "km/h") {
|
||||
offset /= 3.6; // Convert km/h to m/s
|
||||
} else if (windspeedFormat == "kn") {
|
||||
offset /= 1.94384; // Convert kn to m/s
|
||||
} else if (windspeedFormat == "bft") {
|
||||
offset *= 2 + (offset / 2); // Convert Bft to m/s (approx) -> to be improved
|
||||
}
|
||||
|
||||
} else if (instance == "AWA" || instance == "COG" || instance == "HDM" || instance == "HDT" || instance == "PRPOS" || instance == "RPOS" || instance == "TWA" || instance == "TWD") {
|
||||
offset *= DEG_TO_RAD; // Convert deg to rad
|
||||
|
||||
} else if (instance == "DBS" || instance == "DBT") {
|
||||
if (lengthFormat == "m") {
|
||||
// No conversion needed
|
||||
} else if (lengthFormat == "ft") {
|
||||
offset /= 3.28084; // Convert ft to m
|
||||
}
|
||||
|
||||
} else if (instance == "SOG" || instance == "STW") {
|
||||
if (speedFormat == "m/s") {
|
||||
// No conversion needed
|
||||
} else if (speedFormat == "km/h") {
|
||||
offset /= 3.6; // Convert km/h to m/s
|
||||
} else if (speedFormat == "kn") {
|
||||
offset /= 1.94384; // Convert kn to m/s
|
||||
}
|
||||
|
||||
} else if (instance == "WTemp") {
|
||||
if (tempFormat == "K" || tempFormat == "C") {
|
||||
// No conversion needed
|
||||
} else if (tempFormat == "F") {
|
||||
offset *= 9.0 / 5.0; // Convert °F to K
|
||||
slope *= 9.0 / 5.0; // Convert °F to K
|
||||
}
|
||||
}
|
||||
|
||||
// transform smoothing factor from [0.01..10] to [0.3..0.95] and invert for exponential smoothing formula
|
||||
if (smooth <= 0) {
|
||||
smooth = 0;
|
||||
} else {
|
||||
if (smooth > 10) {
|
||||
smooth = 10;
|
||||
}
|
||||
smooth = 0.3 + ((smooth - 0.01) * (0.95 - 0.3) / (10 - 0.01));
|
||||
}
|
||||
smooth = 1 - smooth;
|
||||
|
||||
calibrationMap[instance].offset = offset;
|
||||
calibrationMap[instance].slope = slope;
|
||||
calibrationMap[instance].smooth = smooth;
|
||||
calibrationMap[instance].isCalibrated = false;
|
||||
LOG_DEBUG(GwLog::LOG, "Calibration data type added: %s, offset: %f, slope: %f, smoothing: %f", instance.c_str(),
|
||||
calibrationMap[instance].offset, calibrationMap[instance].slope, calibrationMap[instance].smooth);
|
||||
}
|
||||
// LOG_DEBUG(GwLog::LOG, "All calibration data read");
|
||||
}
|
||||
|
||||
// Handle calibrationMap and calibrate all boat data values
|
||||
void CalibrationData::handleCalibration(BoatValueList* boatValueList)
|
||||
{
|
||||
GwApi::BoatValue* bValue;
|
||||
|
||||
for (const auto& cMap : calibrationMap) {
|
||||
std::string instance = cMap.first.c_str();
|
||||
bValue = boatValueList->findValueOrCreate(String(instance.c_str()));
|
||||
|
||||
calibrateInstance(bValue);
|
||||
smoothInstance(bValue);
|
||||
}
|
||||
}
|
||||
|
||||
// Calibrate single boat data value
|
||||
// Return calibrated boat value or DBL_MAX, if no calibration was performed
|
||||
bool CalibrationData::calibrateInstance(GwApi::BoatValue* boatDataValue)
|
||||
{
|
||||
std::string instance = boatDataValue->getName().c_str();
|
||||
double offset = 0;
|
||||
double slope = 1.0;
|
||||
double dataValue = 0;
|
||||
std::string format = "";
|
||||
|
||||
// we test this earlier, but for safety reason ...
|
||||
if (calibrationMap.find(instance) == calibrationMap.end()) {
|
||||
LOG_DEBUG(GwLog::DEBUG, "BoatDataCalibration: %s not in calibration list", instance.c_str());
|
||||
return false;
|
||||
}
|
||||
|
||||
calibrationMap[instance].isCalibrated = false; // reset calibration flag until properly calibrated
|
||||
|
||||
if (!boatDataValue->valid) { // no valid boat data value, so we don't want to apply calibration data
|
||||
return false;
|
||||
}
|
||||
|
||||
offset = calibrationMap[instance].offset;
|
||||
slope = calibrationMap[instance].slope;
|
||||
dataValue = boatDataValue->value;
|
||||
format = boatDataValue->getFormat().c_str();
|
||||
LOG_DEBUG(GwLog::DEBUG, "BoatDataCalibration: %s: value: %f, format: %s", instance.c_str(), dataValue, format.c_str());
|
||||
|
||||
if (format == "formatWind") { // instance is of type angle
|
||||
dataValue = (dataValue * slope) + offset;
|
||||
// dataValue = WindUtils::toPI(dataValue);
|
||||
dataValue = WindUtils::to2PI(dataValue); // we should call <toPI> for format of [-180..180], but pages cannot handle negative values yet
|
||||
|
||||
} else if (format == "formatCourse") { // instance is of type direction
|
||||
dataValue = (dataValue * slope) + offset;
|
||||
dataValue = WindUtils::to2PI(dataValue);
|
||||
|
||||
} else if (format == "kelvinToC") { // instance is of type temperature
|
||||
dataValue = ((dataValue - 273.15) * slope) + offset + 273.15;
|
||||
|
||||
} else {
|
||||
dataValue = (dataValue * slope) + offset;
|
||||
}
|
||||
|
||||
|
||||
boatDataValue->value = dataValue; // update boat data value with calibrated value
|
||||
calibrationMap[instance].value = dataValue; // store the calibrated value in the list
|
||||
calibrationMap[instance].isCalibrated = true;
|
||||
|
||||
LOG_DEBUG(GwLog::DEBUG, "BoatDataCalibration: %s: Offset: %f, Slope: %f, Result: %f", instance.c_str(), offset, slope, calibrationMap[instance].value);
|
||||
return true;
|
||||
}
|
||||
|
||||
// Smooth single boat data value
|
||||
// Return smoothed boat value or DBL_MAX, if no smoothing was performed
|
||||
bool CalibrationData::smoothInstance(GwApi::BoatValue* boatDataValue)
|
||||
{
|
||||
std::string instance = boatDataValue->getName().c_str();
|
||||
double oldValue = 0;
|
||||
double dataValue = boatDataValue->value;
|
||||
double smoothFactor = 0;
|
||||
|
||||
// we test this earlier, but for safety reason ...
|
||||
if (calibrationMap.find(instance) == calibrationMap.end()) {
|
||||
LOG_DEBUG(GwLog::DEBUG, "BoatDataCalibration: %s not in calibration list", instance.c_str());
|
||||
return false;
|
||||
}
|
||||
|
||||
calibrationMap[instance].isCalibrated = false; // reset calibration flag until properly calibrated
|
||||
|
||||
if (!boatDataValue->valid) { // no valid boat data value, so we don't need to do anything
|
||||
return false;
|
||||
}
|
||||
|
||||
smoothFactor = calibrationMap[instance].smooth;
|
||||
|
||||
if (lastValue.find(instance) != lastValue.end()) {
|
||||
oldValue = lastValue[instance];
|
||||
dataValue = oldValue + (smoothFactor * (dataValue - oldValue)); // exponential smoothing algorithm
|
||||
}
|
||||
lastValue[instance] = dataValue; // store the new value for next cycle; first time, store only the current value and return
|
||||
|
||||
boatDataValue->value = dataValue; // update boat data value with smoothed value
|
||||
calibrationMap[instance].value = dataValue; // store the smoothed value in the list
|
||||
calibrationMap[instance].isCalibrated = true;
|
||||
|
||||
LOG_DEBUG(GwLog::DEBUG, "BoatDataCalibration: %s: smooth: %f, oldValue: %f, result: %f", instance.c_str(), smoothFactor, oldValue, calibrationMap[instance].value);
|
||||
|
||||
return true;
|
||||
}
|
||||
// --- End Class CalibrationData ---------------
|
||||
|
||||
// --- Class HstryBuf ---------------
|
||||
HstryBuf::HstryBuf(const String& name, int size, BoatValueList* boatValues, GwLog* log)
|
||||
@@ -43,12 +259,15 @@ void HstryBuf::handle(bool useSimuData, CommonData& common)
|
||||
|
||||
if (boatValue->valid) {
|
||||
// Calibrate boat value before adding it to history buffer
|
||||
calibrationData.calibrateInstance(tmpBVal.get(), logger);
|
||||
add(tmpBVal->value);
|
||||
//calibrationData.calibrateInstance(tmpBVal.get(), logger);
|
||||
//add(tmpBVal->value);
|
||||
add(boatValue->value);
|
||||
|
||||
} else if (useSimuData) { // add simulated value to history buffer
|
||||
double simValue = formatValue(tmpBVal.get(), common).value; // simulated value is generated at <formatValue>
|
||||
add(simValue);
|
||||
double simSIValue = formatValue(tmpBVal.get(), common).value; // simulated value is generated at <formatValue>; here: retreive SI value
|
||||
add(simSIValue);
|
||||
} else {
|
||||
// here we will add invalid (DBL_MAX) value; this will mark periods of missing data in buffer together with a timestamp
|
||||
}
|
||||
}
|
||||
// --- End Class HstryBuf ---------------
|
||||
|
||||
Reference in New Issue
Block a user