From 2ed48f041c29e437e58d16f4192c2bd2303499f4 Mon Sep 17 00:00:00 2001 From: David Jablonski Date: Sun, 17 Jan 2021 18:32:51 +0100 Subject: [PATCH] mavlink: Templated SCALED_IMU mavlink stream --- src/modules/mavlink/mavlink_messages.cpp | 266 +-------------------- src/modules/mavlink/streams/SCALED_IMU.hpp | 199 +++++++++++++++ 2 files changed, 205 insertions(+), 260 deletions(-) create mode 100644 src/modules/mavlink/streams/SCALED_IMU.hpp diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index c5a1a1f9bb..4729f51925 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -125,6 +125,7 @@ using matrix::wrap_2pi; #include "streams/PROTOCOL_VERSION.hpp" #include "streams/RAW_RPM.hpp" #include "streams/RC_CHANNELS.hpp" +#include "streams/SCALED_IMU.hpp" #include "streams/STATUSTEXT.hpp" #include "streams/STORAGE_INFORMATION.hpp" #include "streams/TRAJECTORY_REPRESENTATION_WAYPOINTS.hpp" @@ -1193,263 +1194,6 @@ public: } }; -class MavlinkStreamScaledIMU : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamScaledIMU::get_name_static(); - } - - static const char *get_name_static() - { - return "SCALED_IMU"; - } - - static uint16_t get_id_static() - { - return MAVLINK_MSG_ID_SCALED_IMU; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamScaledIMU(mavlink); - } - - unsigned get_size() override - { - return _raw_imu_sub.advertised() ? (MAVLINK_MSG_ID_SCALED_IMU_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; - } - -private: - uORB::Subscription _raw_imu_sub{ORB_ID(vehicle_imu), 0}; - uORB::Subscription _raw_mag_sub{ORB_ID(sensor_mag), 0}; - - // do not allow top copy this class - MavlinkStreamScaledIMU(MavlinkStreamScaledIMU &) = delete; - MavlinkStreamScaledIMU &operator = (const MavlinkStreamScaledIMU &) = delete; - -protected: - explicit MavlinkStreamScaledIMU(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - if (_raw_imu_sub.updated() || _raw_mag_sub.updated()) { - - vehicle_imu_s imu{}; - _raw_imu_sub.copy(&imu); - - sensor_mag_s sensor_mag{}; - _raw_mag_sub.copy(&sensor_mag); - - mavlink_scaled_imu_t msg{}; - - msg.time_boot_ms = imu.timestamp / 1000; - - // Accelerometer in mG - const float accel_dt_inv = 1.e6f / (float)imu.delta_velocity_dt; - const Vector3f accel = Vector3f{imu.delta_velocity} * accel_dt_inv * 1000.0f / CONSTANTS_ONE_G; - - // Gyroscope in mrad/s - const float gyro_dt_inv = 1.e6f / (float)imu.delta_angle_dt; - const Vector3f gyro = Vector3f{imu.delta_angle} * gyro_dt_inv * 1000.0f; - - msg.xacc = (int16_t)accel(0); - msg.yacc = (int16_t)accel(1); - msg.zacc = (int16_t)accel(2); - msg.xgyro = gyro(0); - msg.ygyro = gyro(1); - msg.zgyro = gyro(2); - msg.xmag = sensor_mag.x * 1000.0f; // Gauss -> MilliGauss - msg.ymag = sensor_mag.y * 1000.0f; // Gauss -> MilliGauss - msg.zmag = sensor_mag.z * 1000.0f; // Gauss -> MilliGauss - - mavlink_msg_scaled_imu_send_struct(_mavlink->get_channel(), &msg); - - return true; - } - - return false; - } -}; - -class MavlinkStreamScaledIMU2 : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamScaledIMU2::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "SCALED_IMU2"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_SCALED_IMU2; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamScaledIMU2(mavlink); - } - - unsigned get_size() override - { - return _raw_imu_sub.advertised() ? (MAVLINK_MSG_ID_SCALED_IMU2_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; - } - -private: - uORB::Subscription _raw_imu_sub{ORB_ID(vehicle_imu), 1}; - uORB::Subscription _raw_mag_sub{ORB_ID(sensor_mag), 1}; - - // do not allow top copy this class - MavlinkStreamScaledIMU2(MavlinkStreamScaledIMU2 &) = delete; - MavlinkStreamScaledIMU2 &operator = (const MavlinkStreamScaledIMU2 &) = delete; - -protected: - explicit MavlinkStreamScaledIMU2(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - if (_raw_imu_sub.updated() || _raw_mag_sub.updated()) { - - vehicle_imu_s imu{}; - _raw_imu_sub.copy(&imu); - - sensor_mag_s sensor_mag{}; - _raw_mag_sub.copy(&sensor_mag); - - mavlink_scaled_imu2_t msg{}; - - msg.time_boot_ms = imu.timestamp / 1000; - - // Accelerometer in mG - const float accel_dt_inv = 1.e6f / (float)imu.delta_velocity_dt; - const Vector3f accel = Vector3f{imu.delta_velocity} * accel_dt_inv * 1000.0f / CONSTANTS_ONE_G; - - // Gyroscope in mrad/s - const float gyro_dt_inv = 1.e6f / (float)imu.delta_angle_dt; - const Vector3f gyro = Vector3f{imu.delta_angle} * gyro_dt_inv * 1000.0f; - - msg.xacc = (int16_t)accel(0); - msg.yacc = (int16_t)accel(1); - msg.zacc = (int16_t)accel(2); - msg.xgyro = gyro(0); - msg.ygyro = gyro(1); - msg.zgyro = gyro(2); - msg.xmag = sensor_mag.x * 1000.0f; // Gauss -> MilliGauss - msg.ymag = sensor_mag.y * 1000.0f; // Gauss -> MilliGauss - msg.zmag = sensor_mag.z * 1000.0f; // Gauss -> MilliGauss - - mavlink_msg_scaled_imu2_send_struct(_mavlink->get_channel(), &msg); - - return true; - } - - return false; - } -}; - -class MavlinkStreamScaledIMU3 : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamScaledIMU3::get_name_static(); - } - static constexpr const char *get_name_static() - { - return "SCALED_IMU3"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_SCALED_IMU3; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamScaledIMU3(mavlink); - } - - unsigned get_size() override - { - return _raw_imu_sub.advertised() ? (MAVLINK_MSG_ID_SCALED_IMU3_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; - } - -private: - uORB::Subscription _raw_imu_sub{ORB_ID(vehicle_imu), 2}; - uORB::Subscription _raw_mag_sub{ORB_ID(sensor_mag), 2}; - - // do not allow top copy this class - MavlinkStreamScaledIMU3(MavlinkStreamScaledIMU3 &) = delete; - MavlinkStreamScaledIMU3 &operator = (const MavlinkStreamScaledIMU3 &) = delete; - -protected: - explicit MavlinkStreamScaledIMU3(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - if (_raw_imu_sub.updated() || _raw_mag_sub.updated()) { - - vehicle_imu_s imu{}; - _raw_imu_sub.copy(&imu); - - sensor_mag_s sensor_mag{}; - _raw_mag_sub.copy(&sensor_mag); - - mavlink_scaled_imu3_t msg{}; - - msg.time_boot_ms = imu.timestamp / 1000; - - // Accelerometer in mG - const float accel_dt_inv = 1.e6f / (float)imu.delta_velocity_dt; - const Vector3f accel = Vector3f{imu.delta_velocity} * accel_dt_inv * 1000.0f / CONSTANTS_ONE_G; - - // Gyroscope in mrad/s - const float gyro_dt_inv = 1.e6f / (float)imu.delta_angle_dt; - const Vector3f gyro = Vector3f{imu.delta_angle} * gyro_dt_inv * 1000.0f; - - msg.xacc = (int16_t)accel(0); - msg.yacc = (int16_t)accel(1); - msg.zacc = (int16_t)accel(2); - msg.xgyro = gyro(0); - msg.ygyro = gyro(1); - msg.zgyro = gyro(2); - msg.xmag = sensor_mag.x * 1000.0f; // Gauss -> MilliGauss - msg.ymag = sensor_mag.y * 1000.0f; // Gauss -> MilliGauss - msg.zmag = sensor_mag.z * 1000.0f; // Gauss -> MilliGauss - - mavlink_msg_scaled_imu3_send_struct(_mavlink->get_channel(), &msg); - - return true; - } - - return false; - } -}; - class MavlinkStreamVFRHUD : public MavlinkStream { public: @@ -3254,9 +2998,11 @@ static const StreamListItem streams_list[] = { create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), - create_stream_list_item(), - create_stream_list_item(), - create_stream_list_item(), +#if defined(SCALED_IMU_HPP) + create_stream_list_item >(), + create_stream_list_item >(), + create_stream_list_item >(), +#endif // SCALED_IMU_HPP create_stream_list_item >(), // create_stream_list_item >(), // create_stream_list_item >(), diff --git a/src/modules/mavlink/streams/SCALED_IMU.hpp b/src/modules/mavlink/streams/SCALED_IMU.hpp new file mode 100644 index 0000000000..4e3d3adc45 --- /dev/null +++ b/src/modules/mavlink/streams/SCALED_IMU.hpp @@ -0,0 +1,199 @@ +/**************************************************************************** + * + * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 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. + * + ****************************************************************************/ + +#ifndef SCALED_IMU_HPP +#define SCALED_IMU_HPP + +#include +#include + +#include +#include + +using matrix::Vector3f; + +static constexpr const char *MSG_NAMES_SCALED_IMU[] = { + "SCALED_IMU", + "SCALED_IMU2", + "SCALED_IMU3" +}; + +class MavlinkStreamScaledIMUBase : public MavlinkStream +{ +protected: + explicit MavlinkStreamScaledIMUBase(Mavlink *mavlink, int N) : MavlinkStream(mavlink), + _raw_imu_sub(ORB_ID(vehicle_imu), N), + _raw_mag_sub(ORB_ID(sensor_mag), N) + {} + + + bool send() override + { + if (_raw_imu_sub.updated() || _raw_mag_sub.updated()) { + + vehicle_imu_s imu{}; + _raw_imu_sub.copy(&imu); + + sensor_mag_s sensor_mag{}; + _raw_mag_sub.copy(&sensor_mag); + + // Accelerometer in mG + const float accel_dt_inv = 1.e6f / (float)imu.delta_velocity_dt; + const Vector3f accel = Vector3f{imu.delta_velocity} * accel_dt_inv * 1000.0f / CONSTANTS_ONE_G; + + const float gyro_dt_inv = 1.e6f / (float)imu.delta_velocity_dt; + const Vector3f gyro = Vector3f{imu.delta_angle} * gyro_dt_inv * 1000.0f; + + send_mavlink_message(imu.timestamp / 1000, accel, gyro, sensor_mag); + return true; + } + + return false; + } + + virtual void send_mavlink_message(uint32_t time_boot_ms, const Vector3f &sensor_accel, const Vector3f &gyro, + sensor_mag_s &sensor_mag) = 0; + +private: + uORB::Subscription _raw_imu_sub; + uORB::Subscription _raw_mag_sub; + + // do not allow to copy this class + MavlinkStreamScaledIMUBase(MavlinkStreamScaledIMUBase &) = delete; + MavlinkStreamScaledIMUBase &operator = (const MavlinkStreamScaledIMUBase &) = delete; +}; + +template +class MavlinkStreamScaledIMUTemplate : public MavlinkStreamScaledIMUBase +{ +public: + const char *get_name() const override + { + return get_name_static(); + } + + static constexpr const char *get_name_static() + { + return MSG_NAMES_SCALED_IMU[N]; + } + + uint16_t get_id() override + { + return get_id_static(); + } + + static constexpr uint16_t get_id_static() + { + return MSG_ID_SCALED_IMU; + } + + unsigned get_size() override + { + return MSG_ID_SCALED_IMU_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; + } + + static MavlinkStream *new_instance(Mavlink *mavlink) + { + return new Derived(mavlink); + } + +private: + typedef void (*SendMavlinkHandler)(mavlink_channel_t, const MavlinkMsg *); + SendMavlinkHandler _send_mavlink; + +protected: + explicit MavlinkStreamScaledIMUTemplate(Mavlink *mavlink, + SendMavlinkHandler handler) : MavlinkStreamScaledIMUBase(mavlink, N), + _send_mavlink(handler) + {} + + void send_mavlink_message(uint32_t time_boot_ms, const Vector3f &accel, const Vector3f &gyro, + sensor_mag_s &sensor_mag) override + { + MavlinkMsg msg{}; + msg.time_boot_ms = time_boot_ms; + msg.xacc = (int16_t)accel(0); + msg.yacc = (int16_t)accel(1); + msg.zacc = (int16_t)accel(2); + msg.xgyro = gyro(0); + msg.ygyro = gyro(1); + msg.zgyro = gyro(2); + msg.xmag = sensor_mag.x * 1000.0f; // Gauss -> MilliGauss + msg.ymag = sensor_mag.y * 1000.0f; // Gauss -> MilliGauss + msg.zmag = sensor_mag.z * 1000.0f; // Gauss -> MilliGauss + msg.temperature = sensor_mag.temperature; + + _send_mavlink(_mavlink->get_channel(), &msg); + } +}; + +template struct MavlinkStreamScaledIMU {}; + +template <> +class MavlinkStreamScaledIMU<0> : public + MavlinkStreamScaledIMUTemplate<0, MavlinkStreamScaledIMU<0>, MAVLINK_MSG_ID_SCALED_IMU, MAVLINK_MSG_ID_SCALED_IMU_LEN, mavlink_scaled_imu_t> +{ +public: + typedef MavlinkStreamScaledIMUTemplate<0, MavlinkStreamScaledIMU<0>, MAVLINK_MSG_ID_SCALED_IMU, MAVLINK_MSG_ID_SCALED_IMU_LEN, mavlink_scaled_imu_t> + Base; + + explicit MavlinkStreamScaledIMU(Mavlink *mavlink) : Base(mavlink, mavlink_msg_scaled_imu_send_struct) + {} +}; + +template <> +class MavlinkStreamScaledIMU<1> : public + MavlinkStreamScaledIMUTemplate<1, MavlinkStreamScaledIMU<1>, MAVLINK_MSG_ID_SCALED_IMU2, MAVLINK_MSG_ID_SCALED_IMU2_LEN, mavlink_scaled_imu2_t> +{ +public: + typedef MavlinkStreamScaledIMUTemplate<1, MavlinkStreamScaledIMU<1>, MAVLINK_MSG_ID_SCALED_IMU2, MAVLINK_MSG_ID_SCALED_IMU2_LEN, mavlink_scaled_imu2_t> + Base; + + explicit MavlinkStreamScaledIMU(Mavlink *mavlink) : Base(mavlink, mavlink_msg_scaled_imu2_send_struct) + {} +}; + +template <> +class MavlinkStreamScaledIMU<2> : public + MavlinkStreamScaledIMUTemplate<2, MavlinkStreamScaledIMU<2>, MAVLINK_MSG_ID_SCALED_IMU3, MAVLINK_MSG_ID_SCALED_IMU3_LEN, mavlink_scaled_imu3_t> +{ +public: + typedef MavlinkStreamScaledIMUTemplate<2, MavlinkStreamScaledIMU<2>, MAVLINK_MSG_ID_SCALED_IMU3, MAVLINK_MSG_ID_SCALED_IMU3_LEN, mavlink_scaled_imu3_t> + Base; + + explicit MavlinkStreamScaledIMU(Mavlink *mavlink) : Base(mavlink, mavlink_msg_scaled_imu3_send_struct) + {} +}; + + +#endif /* SCALED_IMU_HPP */