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distance_sensor: adopt message in both range drivers and on ekf_att_pos_estimator

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This commit is contained in:
TSC21
2015-05-23 17:49:52 +01:00
parent 93f8d7c4e8
commit 43668cc8c8
9 changed files with 97 additions and 128 deletions
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src/drivers/drv_range_finder.h
+4 -8
View File
@@ -48,14 +48,10 @@
#define RANGE_FINDER0_DEVICE_PATH "/dev/range_finder0"
#define MB12XX_MAX_RANGEFINDERS 12 //Maximum number of RangeFinders that can be connected
#define range_finder_report range_finder_s
#define __orb_sensor_range_finder __orb_range_finder
#include <uORB/topics/range_finder.h>
#ifndef RANGE_FINDER_TYPE_LASER
#define RANGE_FINDER_TYPE_LASER 0
#endif
/*
* ObjDev tag for px4flow data.
*/
ORB_DECLARE(distance_sensor);
/*
* ioctl() definitions
src/drivers/ll40ls/ll40ls.cpp
+26 -29
View File
@@ -68,6 +68,7 @@
#include <uORB/uORB.h>
#include <uORB/topics/subsystem_info.h>
#include <uORB/topics/distance_sensor.h>
#include <board_config.h>
@@ -144,7 +145,7 @@ private:
bool _collect_phase;
int _class_instance;
orb_advert_t _range_finder_topic;
orb_advert_t _distance_sensor_topic;
perf_counter_t _sample_perf;
perf_counter_t _comms_errors;
@@ -224,7 +225,7 @@ LL40LS::LL40LS(int bus, const char *path, int address) :
_measure_ticks(0),
_collect_phase(false),
_class_instance(-1),
_range_finder_topic(-1),
_distance_sensor_topic(-1),
_sample_perf(perf_alloc(PC_ELAPSED, "ll40ls_read")),
_comms_errors(perf_alloc(PC_COUNT, "ll40ls_comms_errors")),
_buffer_overflows(perf_alloc(PC_COUNT, "ll40ls_buffer_overflows")),
@@ -278,7 +279,7 @@ LL40LS::init()
}
/* allocate basic report buffers */
_reports = new RingBuffer(2, sizeof(range_finder_report));
_reports = new RingBuffer(2, sizeof(distance_sensor_s));
if (_reports == nullptr) {
goto out;
@@ -288,12 +289,12 @@ LL40LS::init()
if (_class_instance == CLASS_DEVICE_PRIMARY) {
/* get a publish handle on the range finder topic */
struct range_finder_report rf_report;
struct distance_sensor_s rf_report;
measure();
_reports->get(&rf_report);
_range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &rf_report);
_distance_sensor_topic = orb_advertise(ORB_ID(distance_sensor), &rf_report);
if (_range_finder_topic < 0) {
if (_distance_sensor_topic < 0) {
debug("failed to create sensor_range_finder object. Did you start uOrb?");
}
}
@@ -497,8 +498,8 @@ LL40LS::ioctl(struct file *filp, int cmd, unsigned long arg)
ssize_t
LL40LS::read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct range_finder_report);
struct range_finder_report *rbuf = reinterpret_cast<struct range_finder_report *>(buffer);
unsigned count = buflen / sizeof(struct distance_sensor_s);
struct distance_sensor_s *rbuf = reinterpret_cast<struct distance_sensor_s *>(buffer);
int ret = 0;
/* buffer must be large enough */
@@ -664,8 +665,8 @@ LL40LS::collect()
}
uint16_t distance = (val[0] << 8) | val[1];
float si_units = distance * 0.01f; /* cm to m */
struct range_finder_report report;
float si_units = (distance * 1.0f) / 100.0f; /* cm to m */
struct distance_sensor_s report;
if (distance == 0) {
_zero_counter++;
@@ -688,22 +689,18 @@ LL40LS::collect()
_last_distance = distance;
/* this should be fairly close to the end of the measurement, so the best approximation of the time */
report.timestamp = hrt_absolute_time();
report.error_count = perf_event_count(_comms_errors);
report.distance = si_units;
report.minimum_distance = get_minimum_distance();
report.maximum_distance = get_maximum_distance();
if (si_units > get_minimum_distance() && si_units < get_maximum_distance()) {
report.valid = 1;
}
else {
report.valid = 0;
}
report.time_boot_ms = hrt_absolute_time();
report.id = 0;
report.type = 1;
report.orientation = 8;
report.current_distance = si_units;
report.min_distance = get_minimum_distance();
report.max_distance = get_maximum_distance();
report.covariance = 0.0;
/* publish it, if we are the primary */
if (_range_finder_topic >= 0) {
orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &report);
if (_distance_sensor_topic >= 0) {
orb_publish(ORB_ID(distance_sensor), _distance_sensor_topic, &report);
}
if (_reports->force(&report)) {
@@ -958,7 +955,7 @@ void stop(int bus)
void
test(int bus)
{
struct range_finder_report report;
struct distance_sensor_s report;
ssize_t sz;
int ret;
const char *path = (bus==PX4_I2C_BUS_ONBOARD?LL40LS_DEVICE_PATH_INT:LL40LS_DEVICE_PATH_EXT);
@@ -977,8 +974,8 @@ test(int bus)
}
warnx("single read");
warnx("measurement: %0.2f m", (double)report.distance);
warnx("time: %lld", report.timestamp);
warnx("measurement: %0.2f m", (double)report.current_distance);
warnx("time: %d", report.time_boot_ms);
/* start the sensor polling at 2Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
@@ -1006,8 +1003,8 @@ test(int bus)
}
warnx("periodic read %u", i);
warnx("measurement: %0.3f", (double)report.distance);
warnx("time: %lld", report.timestamp);
warnx("measurement: %0.3f m", (double)report.current_distance);
warnx("time: %d", report.time_boot_ms);
}
/* reset the sensor polling to default rate */
src/drivers/mb12xx/mb12xx.cpp
+23 -60
View File
@@ -70,6 +70,7 @@
#include <uORB/uORB.h>
#include <uORB/topics/subsystem_info.h>
#include <uORB/topics/distance_sensor.h>
#include <board_config.h>
@@ -131,7 +132,7 @@ private:
bool _collect_phase;
int _class_instance;
orb_advert_t _range_finder_topic;
orb_advert_t _distance_sensor_topic;
perf_counter_t _sample_perf;
perf_counter_t _comms_errors;
@@ -208,7 +209,7 @@ MB12XX::MB12XX(int bus, int address) :
_measure_ticks(0),
_collect_phase(false),
_class_instance(-1),
_range_finder_topic(-1),
_distance_sensor_topic(-1),
_sample_perf(perf_alloc(PC_ELAPSED, "mb12xx_read")),
_comms_errors(perf_alloc(PC_COUNT, "mb12xx_comms_errors")),
_buffer_overflows(perf_alloc(PC_COUNT, "mb12xx_buffer_overflows")),
@@ -255,7 +256,7 @@ MB12XX::init()
}
/* allocate basic report buffers */
_reports = new RingBuffer(2, sizeof(range_finder_report));
_reports = new RingBuffer(2, sizeof(distance_sensor_s));
_index_counter = MB12XX_BASEADDR; /* set temp sonar i2c address to base adress */
set_address(_index_counter); /* set I2c port to temp sonar i2c adress */
@@ -268,11 +269,11 @@ MB12XX::init()
if (_class_instance == CLASS_DEVICE_PRIMARY) {
/* get a publish handle on the range finder topic */
struct range_finder_report rf_report = {};
struct distance_sensor_s rf_report = {};
_range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &rf_report);
_distance_sensor_topic = orb_advertise(ORB_ID(distance_sensor), &rf_report);
if (_range_finder_topic < 0) {
if (_distance_sensor_topic < 0) {
log("failed to create sensor_range_finder object. Did you start uOrb?");
}
}
@@ -469,8 +470,8 @@ ssize_t
MB12XX::read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct range_finder_report);
struct range_finder_report *rbuf = reinterpret_cast<struct range_finder_report *>(buffer);
unsigned count = buflen / sizeof(struct distance_sensor_s);
struct distance_sensor_s *rbuf = reinterpret_cast<struct distance_sensor_s *>(buffer);
int ret = 0;
/* buffer must be large enough */
@@ -571,51 +572,20 @@ MB12XX::collect()
uint16_t distance = val[0] << 8 | val[1];
float si_units = (distance * 1.0f) / 100.0f; /* cm to m */
struct range_finder_report report;
struct distance_sensor_s report;
/* this should be fairly close to the end of the measurement, so the best approximation of the time */
report.timestamp = hrt_absolute_time();
report.error_count = perf_event_count(_comms_errors);
/* if only one sonar, write it to the original distance parameter so that it's still used as altitude sonar */
if (addr_ind.size() == 1) {
report.distance = si_units;
for (unsigned i = 0; i < (MB12XX_MAX_RANGEFINDERS); i++) {
report.distance_vector[i] = 0;
}
report.just_updated = 0;
} else {
/* for multiple sonars connected */
/* don't use the orginial single sonar variable */
report.distance = 0;
/* intermediate vector _latest_sonar_measurements is used to store the measurements as every cycle the other sonar values of the report are thrown away and/or filled in with garbage. We don't want this. We want the report to give the latest value for each connected sonar */
_latest_sonar_measurements[_cycle_counter] = si_units;
for (unsigned i = 0; i < (_latest_sonar_measurements.size()); i++) {
report.distance_vector[i] = _latest_sonar_measurements[i];
}
/* a just_updated variable is added to indicate to autopilot (ardupilot or whatever) which sonar has most recently been collected as this could be of use for Kalman filters */
report.just_updated = _index_counter;
/* Make sure all elements of the distance vector for which no sonar is connected are zero to prevent strange numbers */
for (unsigned i = 0; i < (MB12XX_MAX_RANGEFINDERS - addr_ind.size()); i++) {
report.distance_vector[addr_ind.size() + i] = 0;
}
}
report.minimum_distance = get_minimum_distance();
report.maximum_distance = get_maximum_distance();
report.valid = si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0;
report.time_boot_ms = hrt_absolute_time();
report.id = 0;
report.type = 1;
report.orientation = 8;
report.current_distance = si_units;
report.min_distance = get_minimum_distance();
report.max_distance = get_maximum_distance();
report.covariance = 0.0;
/* publish it, if we are the primary */
if (_range_finder_topic >= 0) {
orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &report);
if (_distance_sensor_topic >= 0) {
orb_publish(ORB_ID(distance_sensor), _distance_sensor_topic, &report);
}
if (_reports->force(&report)) {
@@ -840,7 +810,7 @@ void stop()
void
test()
{
struct range_finder_report report;
struct distance_sensor_s report;
ssize_t sz;
int ret;
@@ -858,8 +828,7 @@ test()
}
warnx("single read");
warnx("measurement: %0.2f of sonar %d", (double)report.distance_vector[report.just_updated], report.just_updated);
warnx("time: %lld", report.timestamp);
warnx("time: %d", report.time_boot_ms);
/* start the sensor polling at 2Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
@@ -887,13 +856,7 @@ test()
}
warnx("periodic read %u", i);
/* Print the sonar rangefinder report sonar distance vector */
for (uint8_t count = 0; count < MB12XX_MAX_RANGEFINDERS; count++) {
warnx("measurement: %0.3f of sonar %u", (double)report.distance_vector[count], count + 1);
}
warnx("time: %lld", report.timestamp);
warnx("time: %d", report.time_boot_ms);
}
/* reset the sensor polling to default rate */