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UAVCAN: Refactored and generalized sensor bridge support
This commit is contained in:
Pavel Kirienko
@@ -0,0 +1,156 @@
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/****************************************************************************
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*
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* Copyright (C) 2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file gnss.cpp
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*
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* @author Pavel Kirienko <pavel.kirienko@gmail.com>
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* @author Andrew Chambers <achamber@gmail.com>
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*
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*/
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#include "gnss.hpp"
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#include <systemlib/err.h>
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#include <mathlib/mathlib.h>
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#define MM_PER_CM 10 // Millimeters per centimeter
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UavcanGnssBridge::UavcanGnssBridge(uavcan::INode &node) :
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_node(node),
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_uavcan_sub_status(node),
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_report_pub(-1)
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{
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}
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const char *UavcanGnssBridge::get_name() const { return "gnss"; }
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int UavcanGnssBridge::init()
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{
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int res = -1;
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// GNSS fix subscription
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res = _uavcan_sub_status.start(FixCbBinder(this, &UavcanGnssBridge::gnss_fix_sub_cb));
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if (res < 0)
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{
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warnx("GNSS fix sub failed %i", res);
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return res;
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}
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// Clear the uORB GPS report
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memset(&_report, 0, sizeof(_report));
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warnx("gnss sensor bridge init ok");
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return res;
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}
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void UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &msg)
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{
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_report.timestamp_position = hrt_absolute_time();
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_report.lat = msg.lat_1e7;
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_report.lon = msg.lon_1e7;
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_report.alt = msg.alt_1e2 * MM_PER_CM; // Convert from centimeter (1e2) to millimeters (1e3)
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_report.timestamp_variance = _report.timestamp_position;
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// Check if the msg contains valid covariance information
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const bool valid_position_covariance = !msg.position_covariance.empty();
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const bool valid_velocity_covariance = !msg.velocity_covariance.empty();
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if (valid_position_covariance) {
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float pos_cov[9];
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msg.position_covariance.unpackSquareMatrix(pos_cov);
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// Horizontal position uncertainty
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const float horizontal_pos_variance = math::max(pos_cov[0], pos_cov[4]);
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_report.eph = (horizontal_pos_variance > 0) ? sqrtf(horizontal_pos_variance) : -1.0F;
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// Vertical position uncertainty
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_report.epv = (pos_cov[8] > 0) ? sqrtf(pos_cov[8]) : -1.0F;
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} else {
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_report.eph = -1.0F;
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_report.epv = -1.0F;
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}
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if (valid_velocity_covariance) {
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float vel_cov[9];
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msg.velocity_covariance.unpackSquareMatrix(vel_cov);
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_report.s_variance_m_s = math::max(math::max(vel_cov[0], vel_cov[4]), vel_cov[8]);
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/* There is a nonlinear relationship between the velocity vector and the heading.
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* Use Jacobian to transform velocity covariance to heading covariance
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*
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* Nonlinear equation:
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* heading = atan2(vel_e_m_s, vel_n_m_s)
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* For math, see http://en.wikipedia.org/wiki/Atan2#Derivative
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*
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* To calculate the variance of heading from the variance of velocity,
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* cov(heading) = J(velocity)*cov(velocity)*J(velocity)^T
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*/
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float vel_n = msg.ned_velocity[0];
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float vel_e = msg.ned_velocity[1];
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float vel_n_sq = vel_n * vel_n;
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float vel_e_sq = vel_e * vel_e;
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_report.c_variance_rad =
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(vel_e_sq * vel_cov[0] +
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-2 * vel_n * vel_e * vel_cov[1] + // Covariance matrix is symmetric
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vel_n_sq* vel_cov[4]) / ((vel_n_sq + vel_e_sq) * (vel_n_sq + vel_e_sq));
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} else {
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_report.s_variance_m_s = -1.0F;
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_report.c_variance_rad = -1.0F;
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}
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_report.fix_type = msg.status;
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_report.timestamp_velocity = _report.timestamp_position;
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_report.vel_n_m_s = msg.ned_velocity[0];
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_report.vel_e_m_s = msg.ned_velocity[1];
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_report.vel_d_m_s = msg.ned_velocity[2];
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_report.vel_m_s = sqrtf(_report.vel_n_m_s * _report.vel_n_m_s + _report.vel_e_m_s * _report.vel_e_m_s + _report.vel_d_m_s * _report.vel_d_m_s);
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_report.cog_rad = atan2f(_report.vel_e_m_s, _report.vel_n_m_s);
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_report.vel_ned_valid = true;
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_report.timestamp_time = _report.timestamp_position;
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_report.time_gps_usec = uavcan::UtcTime(msg.gnss_timestamp).toUSec(); // Convert to microseconds
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_report.satellites_used = msg.sats_used;
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if (_report_pub > 0) {
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orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
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} else {
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_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
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}
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}
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@@ -0,0 +1,88 @@
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/****************************************************************************
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*
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* Copyright (C) 2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
|
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* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
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||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
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* 3. Neither the name PX4 nor the names of its contributors may be
|
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* used to endorse or promote products derived from this software
|
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* without specific prior written permission.
|
||||
*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file gnss.hpp
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*
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* UAVCAN --> ORB bridge for GNSS messages:
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* uavcan.equipment.gnss.Fix
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*
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* @author Pavel Kirienko <pavel.kirienko@gmail.com>
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* @author Andrew Chambers <achamber@gmail.com>
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*/
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#pragma once
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#include <drivers/drv_hrt.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/vehicle_gps_position.h>
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#include <uavcan/uavcan.hpp>
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#include <uavcan/equipment/gnss/Fix.hpp>
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#include "sensor_bridge.hpp"
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class UavcanGnssBridge : public IUavcanSensorBridge
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{
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public:
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UavcanGnssBridge(uavcan::INode& node);
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const char *get_name() const override;
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int init() override;
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private:
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/**
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* GNSS fix message will be reported via this callback.
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*/
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void gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &msg);
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typedef uavcan::MethodBinder<UavcanGnssBridge*,
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void (UavcanGnssBridge::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix>&)>
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FixCbBinder;
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/*
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* libuavcan related things
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*/
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uavcan::INode &_node;
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uavcan::Subscriber<uavcan::equipment::gnss::Fix, FixCbBinder> _uavcan_sub_status;
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/*
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* uORB
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*/
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struct vehicle_gps_position_s _report; ///< uORB topic for gnss position
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orb_advert_t _report_pub; ///< uORB pub for gnss position
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};
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@@ -0,0 +1,48 @@
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/****************************************************************************
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*
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* Copyright (C) 2014 PX4 Development Team. All rights reserved.
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||||
*
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* Redistribution and use in source and binary forms, with or without
|
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* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
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||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @author Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#include "sensor_bridge.hpp"
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#include "gnss.hpp"
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IUavcanSensorBridge* IUavcanSensorBridge::make(uavcan::INode &node, const char *bridge_name)
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{
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if (!std::strncmp("gnss", bridge_name, MaxNameLen)) {
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return new UavcanGnssBridge(node);
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} else {
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return nullptr;
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}
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}
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@@ -0,0 +1,70 @@
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/****************************************************************************
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*
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* Copyright (C) 2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
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||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
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****************************************************************************/
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/**
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* @author Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#pragma once
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#include <containers/List.hpp>
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#include <uavcan/uavcan.hpp>
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/**
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* A sensor bridge class must implement this interface.
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*/
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class IUavcanSensorBridge : uavcan::Noncopyable, public ListNode<IUavcanSensorBridge*>
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{
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public:
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static constexpr unsigned MaxNameLen = 20;
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virtual ~IUavcanSensorBridge() { }
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/**
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* Returns ASCII name of the bridge.
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*/
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virtual const char *get_name() const = 0;
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/**
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* Starts the bridge.
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* @return Non-negative value on success, negative on error.
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*/
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virtual int init() = 0;
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/**
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* Sensor bridge factory.
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* Creates a bridge object by its ASCII name, e.g. "gnss", "mag".
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* @return nullptr if such bridge can't be created.
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*/
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static IUavcanSensorBridge* make(uavcan::INode &node, const char *bridge_name);
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};
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