Merge PR #801 altitude plausibility filter from Lob26

Preserve Pedro Lobato’s original commits. Move his credited release note into a changelog fragment when resolving the current-main conflict.

src/layers/localAdsb/index.js

@@ -10,6 +10,8 @@ import { isPointerFree } from '../../data/inputOwnership.js';
 import { pickRenderAltitudeM } from '../../data/renderAltitude.js';
 import { routePlausible } from '../../data/routePlausible.js';
 import {
+  createLocalAdsbAltitudeGate,
+  gateLocalAdsbAltitude,
   localAdsbPositionIsFresh,
   mergeLocalAdsbRecords,
   summarizeLocalAdsb,
@@ -145,6 +147,7 @@ export function createLocalAdsbLayer({
   let models = null;
   let geoidReady = false;
   let rejectedFixes = 0;
+  let rejectedAltitudes = 0;
   let state = receiver.getState();
   const markers = new Map();
   // Per-ICAO receptions (band|source -> last message) across merges.
@@ -408,30 +411,36 @@ export function createLocalAdsbLayer({
 
   // ── Markers ─────────────────────────────────────────────────────────────
 
-  function upsertMarker(record, at) {
-    const id = `${ENTITY_PREFIX}${record.icao}`;
+  function upsertMarker(heard, at) {
+    const id = `${ENTITY_PREFIX}${heard.icao}`;
     let marker = markers.get(id);
     if (!marker) {
       marker = {
         id,
         entity: null,
-        record,
+        record: heard,
         motion: new LocalAdsbMotion(),
+        altitude: createLocalAdsbAltitudeGate(),
         position: null,
         lat: null,
         lon: null,
-        courseDeg: Number.isFinite(record.trackDeg) ? record.trackDeg : null,
+        courseDeg: Number.isFinite(heard.trackDeg) ? heard.trackDeg : null,
         lastRotation: 0,
         klass: null,
         evidence: false,
         iconKind: null,
         iconScale: null,
-        onGround: Boolean(record.onGround),
+        onGround: Boolean(heard.onGround),
         geoidN: null,
         modelOwnsVisual: false,
       };
       markers.set(id, marker);
     }
+    // Gated before anything reads the record, so the marker height, the card,
+    // the 3D-model ceiling and route plausibility agree on one altitude.
+    const altitudesRejectedBefore = marker.altitude.rejected;
+    const record = gateLocalAdsbAltitude(heard, marker.altitude);
+    rejectedAltitudes += marker.altitude.rejected - altitudesRejectedBefore;
     marker.record = record;
     marker.onGround = Boolean(record.onGround);
     const rejectedBefore = marker.motion.rejectedFixes;
@@ -810,6 +819,8 @@ export function createLocalAdsbLayer({
         // plus the layer's check on every merged record.
         rejectedPositions:
           Math.max(0, Number(current.positionsRejected) || 0) + rejectedFixes,
+        // Altitude reports refused by the vertical-rate check.
+        rejectedAltitudes,
         ...localAdsbStatus({
           receiver: current,
           feedState: feeds?.getState?.() || null,

src/layers/localAdsb/index.test.mjs

@@ -399,6 +399,55 @@ test('an implausible jump in a feed record is ignored by the display', async (t)
   assert.equal(layer.getStats().rejectedPositions, 1);
 });
 
+test('a corrupt altitude reaches neither the marker height nor the card', async (t) => {
+  const receiver = fakeReceiver({ mode: 'adsb', connected: true });
+  const clock = { now: 100_000 };
+  const { layer, sources } = await enabledLayer(receiver, clock);
+  t.after(() => layer.destroy());
+  const entity = () => sources[0].entities.getById('local-adsb:abc123');
+  const heightM = () =>
+    Cesium.Cartographic.fromCartesian(entity().position.getValue()).height;
+  const altitudeLine = () =>
+    entity().gevLabelModel.details.find((line) => line.startsWith('ALT '));
+  receiver.set({ aircraft: [record()] });
+  await layer.update();
+  const cruiseM = heightM();
+  assert.match(altitudeLine(), /^ALT 10,000 FT/);
+
+  clock.now = 101_000;
+  receiver.set({
+    aircraft: [
+      record({
+        altitudeFt: 108_800,
+        lastPositionAt: 101_000,
+        lastMessageAt: 101_000,
+      }),
+    ],
+  });
+  await layer.update();
+  await layer.update();
+  assert.ok(
+    Math.abs(heightM() - cruiseM) < 1,
+    `held at cruise (${heightM()} m vs ${cruiseM} m)`,
+  );
+  assert.match(altitudeLine(), /^ALT 10,000 FT/);
+  assert.equal(layer.getStats().rejectedAltitudes, 1, 'counted once');
+
+  clock.now = 102_000;
+  receiver.set({
+    aircraft: [
+      record({
+        altitudeFt: 10_100,
+        lastPositionAt: 102_000,
+        lastMessageAt: 102_000,
+      }),
+    ],
+  });
+  await layer.update();
+  assert.match(altitudeLine(), /^ALT 10,100 FT/);
+  assert.equal(layer.getStats().rejectedAltitudes, 1);
+});
+
 test('selecting an aircraft draws a magenta trail of the fixes the receiver heard', async (t) => {
   const receiver = fakeReceiver({ mode: 'adsb', connected: true });
   const clock = { now: 100_000 };

src/sources/adsbRecords.js

@@ -54,6 +54,16 @@ export const LOCAL_ADSB_POSITION_MARGIN_M = 500;
  * reference: the previously accepted fix was the outlier, not the stream.
  */
 export const LOCAL_ADSB_REANCHOR_AFTER = 3;
+/**
+ * Altitude change always allowed between two reports: Gillham altitudes step
+ * in 100 ft and barometric readings jitter.
+ */
+export const LOCAL_ADSB_ALTITUDE_MARGIN_FT = 300;
+/** Vertical-rate limit (ft/min) for an aircraft that has not reported one. */
+export const LOCAL_ADSB_UNKNOWN_VERTICAL_RATE_FPM = 12_500;
+/** Reported vertical rate is multiplied by this, plus the margin below. */
+export const LOCAL_ADSB_VERTICAL_RATE_FACTOR = 1.5;
+export const LOCAL_ADSB_VERTICAL_RATE_MARGIN_FPM = 2_000;
 const SLOW_CATEGORIES = new Set(['A1', 'A7', 'B1', 'B4']);
 const KT_TO_MPS = 1852 / 3600;
 const EARTH_RADIUS_M = 6_371_008.8;
@@ -164,6 +174,115 @@ export function localAdsbFixIsPlausible(
   );
 }
 
+/**
+ * The fastest an aircraft is assumed to climb or descend, in ft/min: 1.5 × the
+ * larger reported vertical rate + 2,000 ft/min, or 12,500 ft/min when neither
+ * report carries one.
+ * @param {...(number|null|undefined)} rates Reported vertical rates (ft/min).
+ * @returns {number}
+ */
+export function localAdsbVerticalRateLimitFpm(...rates) {
+  const known = rates.filter(Number.isFinite).map(Math.abs);
+  if (!known.length) return LOCAL_ADSB_UNKNOWN_VERTICAL_RATE_FPM;
+  return (
+    Math.max(...known) * LOCAL_ADSB_VERTICAL_RATE_FACTOR +
+    LOCAL_ADSB_VERTICAL_RATE_MARGIN_FPM
+  );
+}
+
+/**
+ * The altitude counterpart of {@link localAdsbFixIsPlausible}: whether `next`
+ * is reachable from the previous accepted altitude at a plausible vertical
+ * rate. A corrupt frame can still pass CRC, and a decoder feed can relay one,
+ * so a single report of a DC-9 at 108,800 ft has to be refused here. The
+ * allowance is a fixed margin plus the climb covered in the elapsed time + 1 s
+ * at {@link localAdsbVerticalRateLimitFpm}. Without a reference every altitude
+ * is plausible. There is no reference age limit, unlike positions: the
+ * allowance grows with the gap anyway, 125,000 ft over 10 minutes at the
+ * unknown rate.
+ * @param {{altitudeFt:number, at:number, verticalRateFpm?:number|null}|null}
+ *   previous Last accepted altitude.
+ * @param {{altitudeFt:number, at:number, verticalRateFpm?:number|null}} next
+ *   Candidate altitude.
+ * @returns {boolean}
+ */
+export function localAdsbAltitudeIsPlausible(previous, next) {
+  if (
+    !Number.isFinite(previous?.altitudeFt) ||
+    !Number.isFinite(previous?.at) ||
+    !Number.isFinite(next?.altitudeFt) ||
+    !Number.isFinite(next?.at)
+  )
+    return true;
+  const elapsedMs = Math.max(0, next.at - previous.at);
+  const limitFpm = localAdsbVerticalRateLimitFpm(
+    previous.verticalRateFpm,
+    next.verticalRateFpm,
+  );
+  const allowedFt =
+    LOCAL_ADSB_ALTITUDE_MARGIN_FT + ((elapsedMs + 1_000) / 60_000) * limitFpm;
+  return Math.abs(next.altitudeFt - previous.altitudeFt) <= allowedFt;
+}
+
+/**
+ * State for {@link gateLocalAdsbAltitude}, one per aircraft, owned by the
+ * caller and dropped with the aircraft.
+ * @returns {{accepted:object|null, judgedAt:number|null, rejectStreak:number,
+ *   rejected:number}}
+ */
+export function createLocalAdsbAltitudeGate() {
+  return { accepted: null, judgedAt: null, rejectStreak: 0, rejected: 0 };
+}
+
+/**
+ * Hold a record's barometric altitude at its last plausible value.
+ *
+ * Returns `record` itself, or a copy whose `altitudeFt` is the last accepted
+ * altitude, so the marker height, the card, the 3D-model ceiling and route
+ * plausibility all read the same value. A refused report is counted in
+ * `gate.rejected`. From the third consecutive refusal on, the candidate
+ * becomes the new reference, as positions do: a bad first altitude cannot
+ * freeze the aircraft at it.
+ *
+ * Only a report with a newer `lastMessageAt` is judged. The layer re-reads the
+ * same record several times a second, and a re-read must neither count toward
+ * a re-anchor nor slip a refused value through. A surface report passes
+ * unjudged: a feed reports `alt_baro: "ground"` as 0, which is not a
+ * barometric reading, so a landing at a high field is not a 5,000 ft drop.
+ * @param {object} record Local ADS-B record.
+ * @param {ReturnType<typeof createLocalAdsbAltitudeGate>} gate Mutated.
+ * @returns {object}
+ */
+export function gateLocalAdsbAltitude(record, gate) {
+  if (record?.onGround) return record;
+  const altitudeFt = finiteOrNull(record?.altitudeFt);
+  const at = finiteOrNull(record?.lastMessageAt);
+  if (altitudeFt === null || at === null) return record;
+  if (gate.judgedAt === null || at > gate.judgedAt) {
+    gate.judgedAt = at;
+    const candidate = {
+      altitudeFt,
+      at,
+      verticalRateFpm: finiteOrNull(record.verticalRateFpm),
+    };
+    if (localAdsbAltitudeIsPlausible(gate.accepted, candidate)) {
+      gate.accepted = candidate;
+      gate.rejectStreak = 0;
+    } else {
+      gate.rejected += 1;
+      gate.rejectStreak += 1;
+      if (gate.rejectStreak >= LOCAL_ADSB_REANCHOR_AFTER) {
+        gate.accepted = candidate;
+        gate.rejectStreak = 0;
+      }
+    }
+  }
+  const held = gate.accepted?.altitudeFt;
+  return Number.isFinite(held) && held !== altitudeFt
+    ? { ...record, altitudeFt: held }
+    : record;
+}
+
 function normalizePosition(lat, lon) {
   const latitude = finiteOrNull(lat);
   const longitude = finiteOrNull(lon);

src/sources/adsbRecords.test.mjs

@@ -6,6 +6,9 @@ import {
   LOCAL_ADSB_MESSAGE_STALE_MS,
   LOCAL_ADSB_POSITION_STALE_MS,
   LOCAL_ADSB_REFERENCE_MAX_AGE_MS,
+  createLocalAdsbAltitudeGate,
+  gateLocalAdsbAltitude,
+  localAdsbAltitudeIsPlausible,
   localAdsbFixIsPlausible,
   localAdsbPositionIsFresh,
   localAdsbRecordIsLive,
@@ -324,3 +327,105 @@ test('the position sanity check follows dump1090: speed × 1.5 + margin over ela
     'the fixed 500 m margin absorbs CPR and reception error',
   );
 });
+
+test('the altitude check allows the vertical rate × 1.5 + margin over elapsed + 1 s', () => {
+  const from = { altitudeFt: 30_000, at: 0, verticalRateFpm: null };
+  // 9 s later, so the allowance covers 10 s: a sixth of a minute.
+  const at = 9_000;
+  const check = (altitudeFt, rates = {}) =>
+    localAdsbAltitudeIsPlausible(
+      { ...from, verticalRateFpm: rates.previous ?? null },
+      { altitudeFt, at, verticalRateFpm: rates.next ?? null },
+    );
+  assert.equal(
+    localAdsbAltitudeIsPlausible(null, { altitudeFt: 108_800, at }),
+    true,
+    'no reference',
+  );
+  // Unknown rate: 12,500 ft/min → 2,083 ft + 300 ft.
+  assert.equal(check(32_380), true);
+  assert.equal(check(32_390), false);
+  assert.equal(check(27_620), true, 'the limit is symmetric');
+  assert.equal(check(27_610), false);
+  // Level flight reported: 2,000 ft/min → 333 ft + 300 ft.
+  assert.equal(check(30_630, { previous: 0 }), true);
+  assert.equal(check(30_640, { previous: 0 }), false);
+  // The larger of the two reported rates counts: 6,000 × 1.5 + 2,000
+  // = 11,000 ft/min → 1,833 ft + 300 ft.
+  assert.equal(check(27_870, { previous: 0, next: -6_000 }), true);
+  assert.equal(check(27_860, { previous: 0, next: -6_000 }), false);
+  assert.equal(
+    localAdsbAltitudeIsPlausible(
+      { altitudeFt: 30_000, at: 9_000 },
+      { altitudeFt: 30_400, at: 0 },
+    ),
+    true,
+    'an out-of-order report gets the zero-gap allowance, not a negative one',
+  );
+});
+
+/** Feed one aircraft's reports, `[seconds, altitudeFt, extra]`, through a gate. */
+function gateReports(reports) {
+  const gate = createLocalAdsbAltitudeGate();
+  const altitudes = reports.map(
+    ([seconds, altitudeFt, extra = {}]) =>
+      gateLocalAdsbAltitude(
+        {
+          icao: 'abc123',
+          lastMessageAt: seconds * 1_000,
+          altitudeFt,
+          ...extra,
+        },
+        gate,
+      ).altitudeFt,
+  );
+  return { altitudes, rejected: gate.rejected };
+}
+
+test('a corrupt altitude is held at the last accepted one and judged once', () => {
+  // The logged case: a DC-9 cruising at 35,000 ft reported once at 108,800 ft.
+  // The layer re-reads the same record several times a second; a re-read of
+  // the refused report is neither let through nor counted again.
+  assert.deepEqual(
+    gateReports([
+      [0, 35_000],
+      [0.5, 35_000],
+      [1, 108_800],
+      [1, 108_800],
+      [1, 108_800],
+      [1.5, 35_025],
+    ]),
+    {
+      altitudes: [35_000, 35_000, 35_000, 35_000, 35_000, 35_025],
+      rejected: 1,
+    },
+  );
+});
+
+test('a bad first altitude clears itself on the third refusal', () => {
+  assert.deepEqual(
+    gateReports([
+      [0, 108_800],
+      [0.5, 35_000],
+      [1, 35_000],
+      [1.5, 35_000],
+      [2, 35_000],
+    ]),
+    { altitudes: [108_800, 108_800, 108_800, 35_000, 35_000], rejected: 3 },
+  );
+});
+
+test('a surface report is not compared with the last airborne altitude', () => {
+  // Denver: the last airborne report is 5,600 ft barometric, and a feed
+  // reports `alt_baro: "ground"` as 0. Neither the landing nor the next
+  // takeoff is a jump.
+  assert.deepEqual(
+    gateReports([
+      [0, 5_600],
+      [20, 0, { onGround: true }],
+      [300, 5_700],
+      [301, 5_720],
+    ]),
+    { altitudes: [5_600, 0, 5_700, 5_720], rejected: 0 },
+  );
+});