mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-15 07:27:34 +08:00
Merge remote-tracking branch 'px4/main' into pr-modalai-muorb-updates
This commit is contained in:
Daniel Agar
Submodule Tools/simulation/gazebo-classic/sitl_gazebo-classic updated: 33ac87a376...da7206e057
+1
-1
Submodule Tools/simulation/gz updated: 2228336568...6b4ed09d1b
@@ -64,9 +64,6 @@
|
||||
// Hacks for MAVLink RC button input
|
||||
#define ATL_MANTIS_RC_INPUT_HACKS
|
||||
|
||||
// Hacks for MAVLink RC button input
|
||||
#define ATL_MANTIS_RC_INPUT_HACKS
|
||||
|
||||
/*
|
||||
* ADC channels
|
||||
*
|
||||
|
||||
@@ -4,6 +4,7 @@ CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y
|
||||
CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP101XX=y
|
||||
CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y
|
||||
CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
|
||||
CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
|
||||
CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y
|
||||
CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
|
||||
|
||||
@@ -44,7 +44,6 @@ add_library(drivers_board
|
||||
)
|
||||
|
||||
# Add custom drivers for SLPI
|
||||
# add_subdirectory(${PX4_BOARD_DIR}/src/drivers/icm42688p)
|
||||
add_subdirectory(${PX4_BOARD_DIR}/src/drivers/rc_controller)
|
||||
add_subdirectory(${PX4_BOARD_DIR}/src/drivers/mavlink_rc_in)
|
||||
# add_subdirectory(${PX4_BOARD_DIR}/src/drivers/spektrum_rc)
|
||||
|
||||
@@ -1,48 +0,0 @@
|
||||
############################################################################
|
||||
#
|
||||
# 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.
|
||||
#
|
||||
############################################################################
|
||||
px4_add_module(
|
||||
MODULE drivers__imu__invensense__icm42688p
|
||||
MAIN icm42688p
|
||||
COMPILE_FLAGS
|
||||
${MAX_CUSTOM_OPT_LEVEL}
|
||||
SRCS
|
||||
icm42688p_main.cpp
|
||||
ICM42688P.cpp
|
||||
ICM42688P.hpp
|
||||
InvenSense_ICM42688P_registers.hpp
|
||||
DEPENDS
|
||||
px4_work_queue
|
||||
drivers_accelerometer
|
||||
drivers_gyroscope
|
||||
drivers__device
|
||||
)
|
||||
@@ -1,991 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include "ICM42688P.hpp"
|
||||
|
||||
bool hitl_mode = false;
|
||||
|
||||
using namespace time_literals;
|
||||
|
||||
static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
|
||||
{
|
||||
return (msb << 8u) | lsb;
|
||||
}
|
||||
|
||||
ICM42688P::ICM42688P(const I2CSPIDriverConfig &config) :
|
||||
// SPI(DRV_IMU_DEVTYPE_ICM42688P, MODULE_NAME, bus, device, spi_mode, bus_frequency),
|
||||
// I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
|
||||
// _drdy_gpio(drdy_gpio)
|
||||
SPI(config),
|
||||
I2CSPIDriver(config),
|
||||
_drdy_gpio(config.drdy_gpio),
|
||||
_px4_accel(get_device_id(), config.rotation),
|
||||
_px4_gyro(get_device_id(), config.rotation)
|
||||
{
|
||||
if (config.drdy_gpio != 0) {
|
||||
_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
|
||||
}
|
||||
|
||||
if (!hitl_mode) {
|
||||
// _px4_accel = std::make_shared<PX4Accelerometer>(get_device_id(), rotation);
|
||||
// _px4_gyro = std::make_shared<PX4Gyroscope>(get_device_id(), rotation);
|
||||
ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
|
||||
// _imu_server_pub.advertise();
|
||||
|
||||
} else {
|
||||
ConfigureSampleRate(0);
|
||||
}
|
||||
}
|
||||
|
||||
ICM42688P::~ICM42688P()
|
||||
{
|
||||
perf_free(_bad_register_perf);
|
||||
perf_free(_bad_transfer_perf);
|
||||
perf_free(_fifo_empty_perf);
|
||||
perf_free(_fifo_overflow_perf);
|
||||
perf_free(_fifo_reset_perf);
|
||||
perf_free(_drdy_missed_perf);
|
||||
|
||||
// if (!hitl_mode){
|
||||
// _imu_server_pub.unadvertise();
|
||||
// }
|
||||
}
|
||||
|
||||
int ICM42688P::init()
|
||||
{
|
||||
int ret = SPI::init();
|
||||
|
||||
if (ret != PX4_OK) {
|
||||
DEVICE_DEBUG("SPI::init failed (%i)", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
return Reset() ? 0 : -1;
|
||||
}
|
||||
|
||||
bool ICM42688P::Reset()
|
||||
{
|
||||
_state = STATE::RESET;
|
||||
DataReadyInterruptDisable();
|
||||
ScheduleClear();
|
||||
ScheduleNow();
|
||||
return true;
|
||||
}
|
||||
|
||||
void ICM42688P::exit_and_cleanup()
|
||||
{
|
||||
DataReadyInterruptDisable();
|
||||
I2CSPIDriverBase::exit_and_cleanup();
|
||||
}
|
||||
|
||||
void ICM42688P::print_status()
|
||||
{
|
||||
I2CSPIDriverBase::print_status();
|
||||
|
||||
PX4_INFO("FIFO empty interval: %d us (%.1f Hz)", _fifo_empty_interval_us, 1e6 / _fifo_empty_interval_us);
|
||||
|
||||
perf_print_counter(_bad_register_perf);
|
||||
perf_print_counter(_bad_transfer_perf);
|
||||
perf_print_counter(_fifo_empty_perf);
|
||||
perf_print_counter(_fifo_overflow_perf);
|
||||
perf_print_counter(_fifo_reset_perf);
|
||||
perf_print_counter(_drdy_missed_perf);
|
||||
}
|
||||
|
||||
int ICM42688P::probe()
|
||||
{
|
||||
for (int i = 0; i < 3; i++) {
|
||||
uint8_t whoami = RegisterRead(Register::BANK_0::WHO_AM_I);
|
||||
|
||||
if (whoami == WHOAMI) {
|
||||
PX4_INFO("ICM42688P::probe successful!");
|
||||
return PX4_OK;
|
||||
|
||||
} else {
|
||||
DEVICE_DEBUG("unexpected WHO_AM_I 0x%02x", whoami);
|
||||
|
||||
uint8_t reg_bank_sel = RegisterRead(Register::BANK_0::REG_BANK_SEL);
|
||||
int bank = reg_bank_sel >> 4;
|
||||
|
||||
if (bank >= 1 && bank <= 3) {
|
||||
DEVICE_DEBUG("incorrect register bank for WHO_AM_I REG_BANK_SEL:0x%02x, bank:%d", reg_bank_sel, bank);
|
||||
// force bank selection and retry
|
||||
SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0, true);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
void ICM42688P::RunImpl()
|
||||
{
|
||||
PX4_INFO(">>> ICM42688P this: %p", this);
|
||||
|
||||
const hrt_abstime now = hrt_absolute_time();
|
||||
|
||||
switch (_state) {
|
||||
case STATE::RESET:
|
||||
// DEVICE_CONFIG: Software reset configuration
|
||||
RegisterWrite(Register::BANK_0::DEVICE_CONFIG, DEVICE_CONFIG_BIT::SOFT_RESET_CONFIG);
|
||||
_reset_timestamp = now;
|
||||
_failure_count = 0;
|
||||
_state = STATE::WAIT_FOR_RESET;
|
||||
ScheduleDelayed(2_ms); // to be safe wait 2 ms for soft reset to be effective
|
||||
break;
|
||||
|
||||
case STATE::WAIT_FOR_RESET:
|
||||
if ((RegisterRead(Register::BANK_0::WHO_AM_I) == WHOAMI)
|
||||
&& (RegisterRead(Register::BANK_0::DEVICE_CONFIG) == 0x00)
|
||||
&& (RegisterRead(Register::BANK_0::INT_STATUS) & INT_STATUS_BIT::RESET_DONE_INT)) {
|
||||
|
||||
_state = STATE::CONFIGURE;
|
||||
ScheduleDelayed(10_ms); // 30 ms gyro startup time, 10 ms accel from sleep to valid data
|
||||
|
||||
} else {
|
||||
// RESET not complete
|
||||
if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
|
||||
PX4_DEBUG("Reset failed, retrying");
|
||||
_state = STATE::RESET;
|
||||
ScheduleDelayed(100_ms);
|
||||
|
||||
} else {
|
||||
PX4_DEBUG("Reset not complete, check again in 10 ms");
|
||||
ScheduleDelayed(10_ms);
|
||||
}
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case STATE::CONFIGURE:
|
||||
|
||||
if (Configure()) {
|
||||
|
||||
// Wakeup accel and gyro after configuring registers
|
||||
ScheduleDelayed(1_ms); // add a delay here to be safe
|
||||
RegisterWrite(Register::BANK_0::PWR_MGMT0, PWR_MGMT0_BIT::GYRO_MODE_LOW_NOISE | PWR_MGMT0_BIT::ACCEL_MODE_LOW_NOISE);
|
||||
ScheduleDelayed(30_ms); // 30 ms gyro startup time, 10 ms accel from sleep to valid data
|
||||
|
||||
// if configure succeeded then start reading from FIFO
|
||||
_state = STATE::FIFO_READ;
|
||||
|
||||
if (DataReadyInterruptConfigure()) {
|
||||
_data_ready_interrupt_enabled = true;
|
||||
|
||||
// backup schedule as a watchdog timeout
|
||||
ScheduleDelayed(100_ms);
|
||||
|
||||
} else {
|
||||
PX4_ERR("ICM42688P::RunImpl interrupt configuration failed");
|
||||
|
||||
_data_ready_interrupt_enabled = false;
|
||||
ScheduleOnInterval(_fifo_empty_interval_us, _fifo_empty_interval_us);
|
||||
}
|
||||
|
||||
FIFOReset();
|
||||
|
||||
} else {
|
||||
|
||||
PX4_ERR("ICM42688P::RunImpl configuration failed");
|
||||
|
||||
// CONFIGURE not complete
|
||||
if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
|
||||
PX4_DEBUG("Configure failed, resetting");
|
||||
_state = STATE::RESET;
|
||||
|
||||
} else {
|
||||
PX4_DEBUG("Configure failed, retrying");
|
||||
}
|
||||
|
||||
ScheduleDelayed(100_ms);
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case STATE::FIFO_READ: {
|
||||
#ifndef __PX4_QURT
|
||||
uint32_t samples = 0;
|
||||
|
||||
if (_data_ready_interrupt_enabled) {
|
||||
// scheduled from interrupt if _drdy_fifo_read_samples was set as expected
|
||||
if (_drdy_fifo_read_samples.fetch_and(0) != _fifo_gyro_samples) {
|
||||
perf_count(_drdy_missed_perf);
|
||||
|
||||
} else {
|
||||
samples = _fifo_gyro_samples;
|
||||
}
|
||||
|
||||
// push backup schedule back
|
||||
ScheduleDelayed(_fifo_empty_interval_us * 2);
|
||||
}
|
||||
|
||||
if (samples == 0) {
|
||||
// check current FIFO count
|
||||
const uint16_t fifo_count = FIFOReadCount();
|
||||
|
||||
if (fifo_count >= FIFO::SIZE) {
|
||||
FIFOReset();
|
||||
perf_count(_fifo_overflow_perf);
|
||||
|
||||
} else if (fifo_count == 0) {
|
||||
perf_count(_fifo_empty_perf);
|
||||
|
||||
} else {
|
||||
// FIFO count (size in bytes)
|
||||
samples = (fifo_count / sizeof(FIFO::DATA));
|
||||
|
||||
if (samples > FIFO_MAX_SAMPLES) {
|
||||
// not technically an overflow, but more samples than we expected or can publish
|
||||
FIFOReset();
|
||||
perf_count(_fifo_overflow_perf);
|
||||
samples = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
bool success = false;
|
||||
|
||||
if (samples >= 1) {
|
||||
if (FIFORead(now, samples)) {
|
||||
success = true;
|
||||
|
||||
if (_failure_count > 0) {
|
||||
_failure_count--;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (!success) {
|
||||
_failure_count++;
|
||||
|
||||
// full reset if things are failing consistently
|
||||
if (_failure_count > 10) {
|
||||
Reset();
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
// check configuration registers periodically or immediately following any failure
|
||||
if (RegisterCheck(_register_bank0_cfg[_checked_register_bank0])
|
||||
&& RegisterCheck(_register_bank1_cfg[_checked_register_bank1])
|
||||
&& RegisterCheck(_register_bank2_cfg[_checked_register_bank2])
|
||||
) {
|
||||
_last_config_check_timestamp = now;
|
||||
_checked_register_bank0 = (_checked_register_bank0 + 1) % size_register_bank0_cfg;
|
||||
_checked_register_bank1 = (_checked_register_bank1 + 1) % size_register_bank1_cfg;
|
||||
_checked_register_bank2 = (_checked_register_bank2 + 1) % size_register_bank2_cfg;
|
||||
|
||||
} else {
|
||||
// register check failed, force reset
|
||||
perf_count(_bad_register_perf);
|
||||
Reset();
|
||||
}
|
||||
|
||||
#endif
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void ICM42688P::ConfigureSampleRate(int sample_rate)
|
||||
{
|
||||
if (sample_rate == 0) {
|
||||
sample_rate = 800; // default to 800 Hz
|
||||
}
|
||||
|
||||
// round down to nearest FIFO sample dt
|
||||
const float min_interval = FIFO_SAMPLE_DT;
|
||||
_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);
|
||||
|
||||
_fifo_gyro_samples = roundf(math::min((float)_fifo_empty_interval_us / (1e6f / GYRO_RATE), (float)FIFO_MAX_SAMPLES));
|
||||
|
||||
// recompute FIFO empty interval (us) with actual gyro sample limit
|
||||
_fifo_empty_interval_us = _fifo_gyro_samples * (1e6f / GYRO_RATE);
|
||||
|
||||
ConfigureFIFOWatermark(_fifo_gyro_samples);
|
||||
}
|
||||
|
||||
void ICM42688P::ConfigureFIFOWatermark(uint8_t samples)
|
||||
{
|
||||
// FIFO watermark threshold in number of bytes
|
||||
const uint16_t fifo_watermark_threshold = samples * sizeof(FIFO::DATA);
|
||||
|
||||
for (auto &r : _register_bank0_cfg) {
|
||||
if (r.reg == Register::BANK_0::FIFO_CONFIG2) {
|
||||
// FIFO_WM[7:0] FIFO_CONFIG2
|
||||
r.set_bits = fifo_watermark_threshold & 0xFF;
|
||||
|
||||
} else if (r.reg == Register::BANK_0::FIFO_CONFIG3) {
|
||||
// FIFO_WM[11:8] FIFO_CONFIG3
|
||||
r.set_bits = (fifo_watermark_threshold >> 8) & 0x0F;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void ICM42688P::SelectRegisterBank(enum REG_BANK_SEL_BIT bank, bool force)
|
||||
{
|
||||
if (bank != _last_register_bank || force) {
|
||||
// select BANK_0
|
||||
uint8_t cmd_bank_sel[2] {};
|
||||
cmd_bank_sel[0] = static_cast<uint8_t>(Register::BANK_0::REG_BANK_SEL);
|
||||
cmd_bank_sel[1] = bank;
|
||||
transfer(cmd_bank_sel, cmd_bank_sel, sizeof(cmd_bank_sel));
|
||||
|
||||
_last_register_bank = bank;
|
||||
}
|
||||
}
|
||||
|
||||
bool ICM42688P::Configure()
|
||||
{
|
||||
// first set and clear all configured register bits
|
||||
for (const auto ®_cfg : _register_bank0_cfg) {
|
||||
RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
|
||||
}
|
||||
|
||||
for (const auto ®_cfg : _register_bank1_cfg) {
|
||||
RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
|
||||
}
|
||||
|
||||
for (const auto ®_cfg : _register_bank2_cfg) {
|
||||
RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
|
||||
}
|
||||
|
||||
// now check that all are configured
|
||||
bool success = true;
|
||||
|
||||
for (const auto ®_cfg : _register_bank0_cfg) {
|
||||
if (!RegisterCheck(reg_cfg)) {
|
||||
success = false;
|
||||
}
|
||||
}
|
||||
|
||||
for (const auto ®_cfg : _register_bank1_cfg) {
|
||||
if (!RegisterCheck(reg_cfg)) {
|
||||
success = false;
|
||||
}
|
||||
}
|
||||
|
||||
for (const auto ®_cfg : _register_bank2_cfg) {
|
||||
if (!RegisterCheck(reg_cfg)) {
|
||||
success = false;
|
||||
}
|
||||
}
|
||||
|
||||
// // 20-bits data format used
|
||||
// // the only FSR settings that are operational are ±2000dps for gyroscope and ±16g for accelerometer
|
||||
if (!hitl_mode) {
|
||||
_px4_accel.set_range(16.f * CONSTANTS_ONE_G);
|
||||
_px4_accel.set_scale(CONSTANTS_ONE_G / 8192.f);
|
||||
_px4_gyro.set_range(math::radians(2000.f));
|
||||
_px4_gyro.set_scale(math::radians(1.f / 131.f));
|
||||
}
|
||||
|
||||
return success;
|
||||
}
|
||||
|
||||
static bool interrupt_debug = false;
|
||||
static uint32_t interrupt_debug_count = 0;
|
||||
static const uint32_t interrupt_debug_trigger = 800;
|
||||
static hrt_abstime last_interrupt_time = 0;
|
||||
static hrt_abstime avg_interrupt_delta = 0;
|
||||
static hrt_abstime max_interrupt_delta = 0;
|
||||
static hrt_abstime min_interrupt_delta = 60 * 1000 * 1000;
|
||||
static hrt_abstime cumulative_interrupt_delta = 0;
|
||||
|
||||
int ICM42688P::DataReadyInterruptCallback(int irq, void *context, void *arg)
|
||||
{
|
||||
hrt_abstime current_interrupt_time = hrt_absolute_time();
|
||||
|
||||
if (interrupt_debug) {
|
||||
if (last_interrupt_time) {
|
||||
hrt_abstime interrupt_delta_time = current_interrupt_time - last_interrupt_time;
|
||||
|
||||
if (interrupt_delta_time > max_interrupt_delta) { max_interrupt_delta = interrupt_delta_time; }
|
||||
|
||||
if (interrupt_delta_time < min_interrupt_delta) { min_interrupt_delta = interrupt_delta_time; }
|
||||
|
||||
cumulative_interrupt_delta += interrupt_delta_time;
|
||||
}
|
||||
|
||||
last_interrupt_time = current_interrupt_time;
|
||||
|
||||
interrupt_debug_count++;
|
||||
|
||||
if (interrupt_debug_count == interrupt_debug_trigger) {
|
||||
avg_interrupt_delta = cumulative_interrupt_delta / interrupt_debug_trigger;
|
||||
PX4_INFO(">>> Max: %llu, Min: %llu, Avg: %llu", max_interrupt_delta,
|
||||
min_interrupt_delta, avg_interrupt_delta);
|
||||
interrupt_debug_count = 0;
|
||||
cumulative_interrupt_delta = 0;
|
||||
}
|
||||
}
|
||||
|
||||
static_cast<ICM42688P *>(arg)->DataReady();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
void ICM42688P::DataReady()
|
||||
{
|
||||
#ifndef __PX4_QURT
|
||||
uint32_t expected = 0;
|
||||
|
||||
if (_drdy_fifo_read_samples.compare_exchange(&expected, _fifo_gyro_samples)) {
|
||||
ScheduleNow();
|
||||
}
|
||||
|
||||
#else
|
||||
uint16_t fifo_byte_count = FIFOReadCount();
|
||||
|
||||
FIFORead(hrt_absolute_time(), fifo_byte_count / sizeof(FIFO::DATA));
|
||||
#endif
|
||||
}
|
||||
|
||||
bool ICM42688P::DataReadyInterruptConfigure()
|
||||
{
|
||||
if (_drdy_gpio == 0) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// Setup data ready on falling edge
|
||||
return px4_arch_gpiosetevent(_drdy_gpio, false, true, true, &DataReadyInterruptCallback, this) == 0;
|
||||
}
|
||||
|
||||
bool ICM42688P::DataReadyInterruptDisable()
|
||||
{
|
||||
if (_drdy_gpio == 0) {
|
||||
return false;
|
||||
}
|
||||
|
||||
return px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0;
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
bool ICM42688P::RegisterCheck(const T ®_cfg)
|
||||
{
|
||||
bool success = true;
|
||||
|
||||
const uint8_t reg_value = RegisterRead(reg_cfg.reg);
|
||||
|
||||
if (reg_cfg.set_bits && ((reg_value & reg_cfg.set_bits) != reg_cfg.set_bits)) {
|
||||
PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not set)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.set_bits);
|
||||
success = false;
|
||||
}
|
||||
|
||||
if (reg_cfg.clear_bits && ((reg_value & reg_cfg.clear_bits) != 0)) {
|
||||
PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not cleared)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.clear_bits);
|
||||
success = false;
|
||||
}
|
||||
|
||||
return success;
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
uint8_t ICM42688P::RegisterRead(T reg)
|
||||
{
|
||||
uint8_t cmd[2] {};
|
||||
cmd[0] = static_cast<uint8_t>(reg) | DIR_READ;
|
||||
SelectRegisterBank(reg);
|
||||
transfer(cmd, cmd, sizeof(cmd));
|
||||
return cmd[1];
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
void ICM42688P::RegisterWrite(T reg, uint8_t value)
|
||||
{
|
||||
uint8_t cmd[2] { (uint8_t)reg, value };
|
||||
SelectRegisterBank(reg);
|
||||
transfer(cmd, cmd, sizeof(cmd));
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
void ICM42688P::RegisterSetAndClearBits(T reg, uint8_t setbits, uint8_t clearbits)
|
||||
{
|
||||
const uint8_t orig_val = RegisterRead(reg);
|
||||
|
||||
uint8_t val = (orig_val & ~clearbits) | setbits;
|
||||
|
||||
if (orig_val != val) {
|
||||
RegisterWrite(reg, val);
|
||||
}
|
||||
}
|
||||
|
||||
uint16_t ICM42688P::FIFOReadCount()
|
||||
{
|
||||
// read FIFO count
|
||||
uint8_t fifo_count_buf[3] {};
|
||||
fifo_count_buf[0] = static_cast<uint8_t>(Register::BANK_0::FIFO_COUNTH) | DIR_READ;
|
||||
SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0);
|
||||
|
||||
if (transfer(fifo_count_buf, fifo_count_buf, sizeof(fifo_count_buf)) != PX4_OK) {
|
||||
perf_count(_bad_transfer_perf);
|
||||
return 0;
|
||||
}
|
||||
|
||||
return combine(fifo_count_buf[1], fifo_count_buf[2]);
|
||||
}
|
||||
|
||||
// static uint32_t debug_decimator = 0;
|
||||
// static hrt_abstime last_sample_time = 0;
|
||||
// static bool imu_debug = true;
|
||||
|
||||
bool ICM42688P::FIFORead(const hrt_abstime ×tamp_sample, uint16_t samples)
|
||||
{
|
||||
FIFOTransferBuffer buffer{};
|
||||
const size_t max_transfer_size = 10 * sizeof(FIFO::DATA) + 4;
|
||||
const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 4, max_transfer_size);
|
||||
SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0);
|
||||
|
||||
if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
|
||||
perf_count(_bad_transfer_perf);
|
||||
return false;
|
||||
}
|
||||
|
||||
if (buffer.INT_STATUS & INT_STATUS_BIT::FIFO_FULL_INT) {
|
||||
perf_count(_fifo_overflow_perf);
|
||||
FIFOReset();
|
||||
return false;
|
||||
}
|
||||
|
||||
const uint16_t fifo_count_bytes = combine(buffer.FIFO_COUNTH, buffer.FIFO_COUNTL);
|
||||
|
||||
if (fifo_count_bytes >= FIFO::SIZE) {
|
||||
perf_count(_fifo_overflow_perf);
|
||||
FIFOReset();
|
||||
return false;
|
||||
}
|
||||
|
||||
const uint16_t fifo_count_samples = fifo_count_bytes / sizeof(FIFO::DATA);
|
||||
|
||||
if (fifo_count_samples == 0) {
|
||||
perf_count(_fifo_empty_perf);
|
||||
return false;
|
||||
}
|
||||
|
||||
// check FIFO header in every sample
|
||||
uint16_t valid_samples = 0;
|
||||
|
||||
// for (int i = 0; i < math::min(samples, fifo_count_samples); i++) {
|
||||
for (int i = 0; i < math::min(samples, (uint16_t) 10); i++) {
|
||||
bool valid = true;
|
||||
|
||||
// With FIFO_ACCEL_EN and FIFO_GYRO_EN header should be 8’b_0110_10xx
|
||||
const uint8_t FIFO_HEADER = buffer.f[i].FIFO_Header;
|
||||
|
||||
if (FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_MSG) {
|
||||
// FIFO sample empty if HEADER_MSG set
|
||||
valid = false;
|
||||
|
||||
} else if (!(FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ACCEL)) {
|
||||
// accel bit not set
|
||||
valid = false;
|
||||
|
||||
} else if (!(FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_GYRO)) {
|
||||
// gyro bit not set
|
||||
valid = false;
|
||||
|
||||
} else if (!(FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_20)) {
|
||||
// Packet does not contain a new and valid extended 20-bit data
|
||||
valid = false;
|
||||
|
||||
} else if (FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ODR_ACCEL) {
|
||||
// accel ODR changed
|
||||
valid = false;
|
||||
|
||||
} else if (FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ODR_GYRO) {
|
||||
// gyro ODR changed
|
||||
valid = false;
|
||||
}
|
||||
|
||||
if (valid) {
|
||||
valid_samples++;
|
||||
|
||||
} else {
|
||||
perf_count(_bad_transfer_perf);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// if (imu_debug) {
|
||||
// debug_decimator++;
|
||||
// if (debug_decimator == 801) {
|
||||
// debug_decimator = 0;
|
||||
// PX4_INFO("Initial: %u Next: %u Valid: %u Delta: %llu", samples, fifo_count_samples, valid_samples, timestamp_sample - last_sample_time);
|
||||
// }
|
||||
// last_sample_time = timestamp_sample;
|
||||
// }
|
||||
|
||||
if (valid_samples > 0) {
|
||||
if (ProcessTemperature(buffer.f, valid_samples)) {
|
||||
ProcessGyro(timestamp_sample, buffer.f, valid_samples);
|
||||
ProcessAccel(timestamp_sample, buffer.f, valid_samples);
|
||||
ProcessIMU(timestamp_sample, buffer.f, valid_samples);
|
||||
return true;
|
||||
}
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
void ICM42688P::FIFOReset()
|
||||
{
|
||||
perf_count(_fifo_reset_perf);
|
||||
|
||||
// SIGNAL_PATH_RESET: FIFO flush
|
||||
RegisterSetBits(Register::BANK_0::SIGNAL_PATH_RESET, SIGNAL_PATH_RESET_BIT::FIFO_FLUSH);
|
||||
|
||||
// reset while FIFO is disabled
|
||||
_drdy_fifo_read_samples.store(0);
|
||||
}
|
||||
|
||||
static constexpr int32_t reassemble_20bit(const uint32_t a, const uint32_t b, const uint32_t c)
|
||||
{
|
||||
// 0xXXXAABBC
|
||||
uint32_t high = ((a << 12) & 0x000FF000);
|
||||
uint32_t low = ((b << 4) & 0x00000FF0);
|
||||
uint32_t lowest = (c & 0x0000000F);
|
||||
|
||||
uint32_t x = high | low | lowest;
|
||||
|
||||
if (a & Bit7) {
|
||||
// sign extend
|
||||
x |= 0xFFF00000u;
|
||||
}
|
||||
|
||||
return static_cast<int32_t>(x);
|
||||
}
|
||||
|
||||
void ICM42688P::ProcessIMU(const hrt_abstime ×tamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
|
||||
{
|
||||
float accel_x = 0.0, accel_y = 0.0, accel_z = 0.0;
|
||||
float gyro_x = 0.0, gyro_y = 0.0, gyro_z = 0.0;
|
||||
|
||||
for (int i = 0; i < samples; i++) {
|
||||
_imu_server_decimator++;
|
||||
|
||||
if (_imu_server_decimator == 8) {
|
||||
_imu_server_decimator = 0;
|
||||
// 20 bit hires mode
|
||||
|
||||
// Sign extension + Accel [19:12] + Accel [11:4] + Accel [3:2] (20 bit extension byte)
|
||||
// Accel data is 18 bit
|
||||
int32_t temp_accel_x = reassemble_20bit(fifo[i].ACCEL_DATA_X1, fifo[i].ACCEL_DATA_X0,
|
||||
fifo[i].Ext_Accel_X_Gyro_X & 0xF0 >> 4);
|
||||
int32_t temp_accel_y = reassemble_20bit(fifo[i].ACCEL_DATA_Y1, fifo[i].ACCEL_DATA_Y0,
|
||||
fifo[i].Ext_Accel_Y_Gyro_Y & 0xF0 >> 4);
|
||||
int32_t temp_accel_z = reassemble_20bit(fifo[i].ACCEL_DATA_Z1, fifo[i].ACCEL_DATA_Z0,
|
||||
fifo[i].Ext_Accel_Z_Gyro_Z & 0xF0 >> 4);
|
||||
|
||||
// Gyro [19:12] + Gyro [11:4] + Gyro [3:0] (bottom 4 bits of 20 bit extension byte)
|
||||
int32_t temp_gyro_x = reassemble_20bit(fifo[i].GYRO_DATA_X1, fifo[i].GYRO_DATA_X0,
|
||||
fifo[i].Ext_Accel_X_Gyro_X & 0x0F);
|
||||
int32_t temp_gyro_y = reassemble_20bit(fifo[i].GYRO_DATA_Y1, fifo[i].GYRO_DATA_Y0,
|
||||
fifo[i].Ext_Accel_Y_Gyro_Y & 0x0F);
|
||||
int32_t temp_gyro_z = reassemble_20bit(fifo[i].GYRO_DATA_Z1, fifo[i].GYRO_DATA_Z0,
|
||||
fifo[i].Ext_Accel_Z_Gyro_Z & 0x0F);
|
||||
|
||||
// accel samples invalid if -524288
|
||||
if (temp_accel_x != -524288 && temp_accel_y != -524288 && temp_accel_z != -524288) {
|
||||
// shift accel by 2 (2 least significant bits are always 0)
|
||||
accel_x = (float) temp_accel_x / 4.f;
|
||||
accel_y = (float) temp_accel_y / 4.f;
|
||||
accel_z = (float) temp_accel_z / 4.f;
|
||||
|
||||
// shift gyro by 1 (least significant bit is always 0)
|
||||
gyro_x = (float) temp_gyro_x / 2.f;
|
||||
gyro_y = (float) temp_gyro_y / 2.f;
|
||||
gyro_z = (float) temp_gyro_z / 2.f;
|
||||
|
||||
// correct frame for publication
|
||||
// sensor's frame is +x forward, +y left, +z up
|
||||
// flip y & z to publish right handed with z down (x forward, y right, z down)
|
||||
accel_y = -accel_y;
|
||||
accel_z = -accel_z;
|
||||
gyro_y = -gyro_y;
|
||||
gyro_z = -gyro_z;
|
||||
|
||||
// Scale everything appropriately
|
||||
float accel_scale_factor = (CONSTANTS_ONE_G / 8192.f);
|
||||
accel_x *= accel_scale_factor;
|
||||
accel_y *= accel_scale_factor;
|
||||
accel_z *= accel_scale_factor;
|
||||
|
||||
float gyro_scale_factor = math::radians(1.f / 131.f);
|
||||
gyro_x *= gyro_scale_factor;
|
||||
gyro_y *= gyro_scale_factor;
|
||||
gyro_z *= gyro_scale_factor;
|
||||
|
||||
// Store the data in our array
|
||||
_imu_server_data.accel_x[_imu_server_index] = accel_x;
|
||||
_imu_server_data.accel_y[_imu_server_index] = accel_y;
|
||||
_imu_server_data.accel_z[_imu_server_index] = accel_z;
|
||||
_imu_server_data.gyro_x[_imu_server_index] = gyro_x;
|
||||
_imu_server_data.gyro_y[_imu_server_index] = gyro_y;
|
||||
_imu_server_data.gyro_z[_imu_server_index] = gyro_z;
|
||||
_imu_server_data.ts[_imu_server_index] = timestamp_sample - (125 * (samples - 1 - i));
|
||||
_imu_server_index++;
|
||||
|
||||
// If array is full, publish the data
|
||||
if (_imu_server_index == 10) {
|
||||
_imu_server_index = 0;
|
||||
_imu_server_data.timestamp = hrt_absolute_time();
|
||||
_imu_server_data.temperature = 0; // Not used right now
|
||||
_imu_server_pub.publish(_imu_server_data);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void ICM42688P::ProcessAccel(const hrt_abstime ×tamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
|
||||
{
|
||||
sensor_accel_fifo_s accel{};
|
||||
accel.timestamp_sample = timestamp_sample;
|
||||
accel.samples = 0;
|
||||
accel.dt = FIFO_SAMPLE_DT;
|
||||
|
||||
// 18-bits of accelerometer data
|
||||
bool scale_20bit = false;
|
||||
|
||||
// first pass
|
||||
for (int i = 0; i < samples; i++) {
|
||||
// 20 bit hires mode
|
||||
// Sign extension + Accel [19:12] + Accel [11:4] + Accel [3:2] (20 bit extension byte)
|
||||
// Accel data is 18 bit ()
|
||||
int32_t accel_x = reassemble_20bit(fifo[i].ACCEL_DATA_X1, fifo[i].ACCEL_DATA_X0,
|
||||
fifo[i].Ext_Accel_X_Gyro_X & 0xF0 >> 4);
|
||||
int32_t accel_y = reassemble_20bit(fifo[i].ACCEL_DATA_Y1, fifo[i].ACCEL_DATA_Y0,
|
||||
fifo[i].Ext_Accel_Y_Gyro_Y & 0xF0 >> 4);
|
||||
int32_t accel_z = reassemble_20bit(fifo[i].ACCEL_DATA_Z1, fifo[i].ACCEL_DATA_Z0,
|
||||
fifo[i].Ext_Accel_Z_Gyro_Z & 0xF0 >> 4);
|
||||
|
||||
// sample invalid if -524288
|
||||
if (accel_x != -524288 && accel_y != -524288 && accel_z != -524288) {
|
||||
// check if any values are going to exceed int16 limits
|
||||
static constexpr int16_t max_accel = INT16_MAX;
|
||||
static constexpr int16_t min_accel = INT16_MIN;
|
||||
|
||||
if (accel_x >= max_accel || accel_x <= min_accel) {
|
||||
scale_20bit = true;
|
||||
}
|
||||
|
||||
if (accel_y >= max_accel || accel_y <= min_accel) {
|
||||
scale_20bit = true;
|
||||
}
|
||||
|
||||
if (accel_z >= max_accel || accel_z <= min_accel) {
|
||||
scale_20bit = true;
|
||||
}
|
||||
|
||||
// shift by 2 (2 least significant bits are always 0)
|
||||
accel.x[accel.samples] = accel_x / 4;
|
||||
accel.y[accel.samples] = accel_y / 4;
|
||||
accel.z[accel.samples] = accel_z / 4;
|
||||
accel.samples++;
|
||||
}
|
||||
}
|
||||
|
||||
if (!scale_20bit) {
|
||||
// if highres enabled accel data is always 8192 LSB/g
|
||||
if (!hitl_mode) {
|
||||
_px4_accel.set_scale(CONSTANTS_ONE_G / 8192.f);
|
||||
}
|
||||
|
||||
} else {
|
||||
// 20 bit data scaled to 16 bit (2^4)
|
||||
for (int i = 0; i < samples; i++) {
|
||||
// 20 bit hires mode
|
||||
// Sign extension + Accel [19:12] + Accel [11:4] + Accel [3:2] (20 bit extension byte)
|
||||
// Accel data is 18 bit ()
|
||||
int16_t accel_x = combine(fifo[i].ACCEL_DATA_X1, fifo[i].ACCEL_DATA_X0);
|
||||
int16_t accel_y = combine(fifo[i].ACCEL_DATA_Y1, fifo[i].ACCEL_DATA_Y0);
|
||||
int16_t accel_z = combine(fifo[i].ACCEL_DATA_Z1, fifo[i].ACCEL_DATA_Z0);
|
||||
|
||||
accel.x[i] = accel_x;
|
||||
accel.y[i] = accel_y;
|
||||
accel.z[i] = accel_z;
|
||||
}
|
||||
|
||||
if (!hitl_mode) {
|
||||
_px4_accel.set_scale(CONSTANTS_ONE_G / 2048.f);
|
||||
}
|
||||
}
|
||||
|
||||
// correct frame for publication
|
||||
for (int i = 0; i < accel.samples; i++) {
|
||||
// sensor's frame is +x forward, +y left, +z up
|
||||
// flip y & z to publish right handed with z down (x forward, y right, z down)
|
||||
accel.x[i] = accel.x[i];
|
||||
accel.y[i] = (accel.y[i] == INT16_MIN) ? INT16_MAX : -accel.y[i];
|
||||
accel.z[i] = (accel.z[i] == INT16_MIN) ? INT16_MAX : -accel.z[i];
|
||||
}
|
||||
|
||||
if (!hitl_mode) {
|
||||
_px4_accel.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
|
||||
perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
|
||||
}
|
||||
|
||||
if (accel.samples > 0) {
|
||||
if (!hitl_mode) {
|
||||
_px4_accel.updateFIFO(accel);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void ICM42688P::ProcessGyro(const hrt_abstime ×tamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
|
||||
{
|
||||
sensor_gyro_fifo_s gyro{};
|
||||
gyro.timestamp_sample = timestamp_sample;
|
||||
gyro.samples = 0;
|
||||
gyro.dt = FIFO_SAMPLE_DT;
|
||||
|
||||
// 20-bits of gyroscope data
|
||||
bool scale_20bit = false;
|
||||
|
||||
// first pass
|
||||
for (int i = 0; i < samples; i++) {
|
||||
// 20 bit hires mode
|
||||
// Gyro [19:12] + Gyro [11:4] + Gyro [3:0] (bottom 4 bits of 20 bit extension byte)
|
||||
int32_t gyro_x = reassemble_20bit(fifo[i].GYRO_DATA_X1, fifo[i].GYRO_DATA_X0, fifo[i].Ext_Accel_X_Gyro_X & 0x0F);
|
||||
int32_t gyro_y = reassemble_20bit(fifo[i].GYRO_DATA_Y1, fifo[i].GYRO_DATA_Y0, fifo[i].Ext_Accel_Y_Gyro_Y & 0x0F);
|
||||
int32_t gyro_z = reassemble_20bit(fifo[i].GYRO_DATA_Z1, fifo[i].GYRO_DATA_Z0, fifo[i].Ext_Accel_Z_Gyro_Z & 0x0F);
|
||||
|
||||
// check if any values are going to exceed int16 limits
|
||||
static constexpr int16_t max_gyro = INT16_MAX;
|
||||
static constexpr int16_t min_gyro = INT16_MIN;
|
||||
|
||||
if (gyro_x >= max_gyro || gyro_x <= min_gyro) {
|
||||
scale_20bit = true;
|
||||
}
|
||||
|
||||
if (gyro_y >= max_gyro || gyro_y <= min_gyro) {
|
||||
scale_20bit = true;
|
||||
}
|
||||
|
||||
if (gyro_z >= max_gyro || gyro_z <= min_gyro) {
|
||||
scale_20bit = true;
|
||||
}
|
||||
|
||||
gyro.x[gyro.samples] = gyro_x / 2;
|
||||
gyro.y[gyro.samples] = gyro_y / 2;
|
||||
gyro.z[gyro.samples] = gyro_z / 2;
|
||||
gyro.samples++;
|
||||
}
|
||||
|
||||
if (!scale_20bit) {
|
||||
// if highres enabled gyro data is always 131 LSB/dps
|
||||
if (!hitl_mode) {
|
||||
_px4_gyro.set_scale(math::radians(1.f / 131.f));
|
||||
}
|
||||
|
||||
} else {
|
||||
// 20 bit data scaled to 16 bit (2^4)
|
||||
for (int i = 0; i < samples; i++) {
|
||||
gyro.x[i] = combine(fifo[i].GYRO_DATA_X1, fifo[i].GYRO_DATA_X0);
|
||||
gyro.y[i] = combine(fifo[i].GYRO_DATA_Y1, fifo[i].GYRO_DATA_Y0);
|
||||
gyro.z[i] = combine(fifo[i].GYRO_DATA_Z1, fifo[i].GYRO_DATA_Z0);
|
||||
}
|
||||
|
||||
if (!hitl_mode) {
|
||||
_px4_gyro.set_scale(math::radians(2000.f / 32768.f));
|
||||
}
|
||||
}
|
||||
|
||||
// correct frame for publication
|
||||
for (int i = 0; i < gyro.samples; i++) {
|
||||
// sensor's frame is +x forward, +y left, +z up
|
||||
// flip y & z to publish right handed with z down (x forward, y right, z down)
|
||||
gyro.x[i] = gyro.x[i];
|
||||
gyro.y[i] = (gyro.y[i] == INT16_MIN) ? INT16_MAX : -gyro.y[i];
|
||||
gyro.z[i] = (gyro.z[i] == INT16_MIN) ? INT16_MAX : -gyro.z[i];
|
||||
}
|
||||
|
||||
if (!hitl_mode) {
|
||||
_px4_gyro.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
|
||||
perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
|
||||
}
|
||||
|
||||
if (gyro.samples > 0) {
|
||||
if (!hitl_mode) {
|
||||
_px4_gyro.updateFIFO(gyro);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
bool ICM42688P::ProcessTemperature(const FIFO::DATA fifo[], const uint8_t samples)
|
||||
{
|
||||
int16_t temperature[FIFO_MAX_SAMPLES];
|
||||
float temperature_sum{0};
|
||||
|
||||
int valid_samples = 0;
|
||||
|
||||
for (int i = 0; i < samples; i++) {
|
||||
const int16_t t = combine(fifo[i].TEMP_DATA1, fifo[i].TEMP_DATA0);
|
||||
|
||||
// sample invalid if -32768
|
||||
if (t != -32768) {
|
||||
temperature_sum += t;
|
||||
temperature[valid_samples] = t;
|
||||
valid_samples++;
|
||||
}
|
||||
}
|
||||
|
||||
if (valid_samples > 0) {
|
||||
const float temperature_avg = temperature_sum / valid_samples;
|
||||
|
||||
for (int i = 0; i < valid_samples; i++) {
|
||||
// temperature changing wildly is an indication of a transfer error
|
||||
if (fabsf(temperature[i] - temperature_avg) > 1000) {
|
||||
perf_count(_bad_transfer_perf);
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
// use average temperature reading
|
||||
const float TEMP_degC = (temperature_avg / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET;
|
||||
|
||||
if (PX4_ISFINITE(TEMP_degC)) {
|
||||
if (!hitl_mode) {
|
||||
_px4_accel.set_temperature(TEMP_degC);
|
||||
_px4_gyro.set_temperature(TEMP_degC);
|
||||
return true;
|
||||
}
|
||||
|
||||
} else {
|
||||
perf_count(_bad_transfer_perf);
|
||||
}
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
@@ -1,235 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file ICM42688P.hpp
|
||||
*
|
||||
* Driver for the Invensense ICM42688P connected via SPI.
|
||||
*
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "InvenSense_ICM42688P_registers.hpp"
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
|
||||
#include <lib/drivers/device/spi.h>
|
||||
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
|
||||
#include <lib/geo/geo.h>
|
||||
#include <lib/perf/perf_counter.h>
|
||||
#include <px4_platform_common/atomic.h>
|
||||
#include <px4_platform_common/i2c_spi_buses.h>
|
||||
#include <uORB/topics/imu_server.h>
|
||||
#include <uORB/topics/sensor_accel_fifo.h>
|
||||
#include <uORB/topics/sensor_gyro_fifo.h>
|
||||
#include <memory>
|
||||
|
||||
using namespace InvenSense_ICM42688P;
|
||||
|
||||
extern bool hitl_mode;
|
||||
|
||||
class ICM42688P : public device::SPI, public I2CSPIDriver<ICM42688P>
|
||||
{
|
||||
public:
|
||||
// ICM42688P(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
|
||||
// spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio);
|
||||
ICM42688P(const I2CSPIDriverConfig &config);
|
||||
~ICM42688P() override;
|
||||
|
||||
// static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
|
||||
// int runtime_instance);
|
||||
static void print_usage();
|
||||
|
||||
void RunImpl();
|
||||
|
||||
int init() override;
|
||||
void print_status() override;
|
||||
|
||||
private:
|
||||
void exit_and_cleanup() override;
|
||||
|
||||
// Sensor Configuration
|
||||
static constexpr float IMU_ODR{8000.f}; // 8kHz accel & gyro ODR configured
|
||||
static constexpr float FIFO_SAMPLE_DT{1e6f / IMU_ODR};
|
||||
static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT};
|
||||
static constexpr float ACCEL_RATE{1e6f / FIFO_SAMPLE_DT};
|
||||
|
||||
// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
|
||||
// static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
|
||||
static constexpr uint32_t FIFO_MAX_SAMPLES{10};
|
||||
|
||||
// Transfer data
|
||||
struct FIFOTransferBuffer {
|
||||
uint8_t cmd{static_cast<uint8_t>(Register::BANK_0::INT_STATUS) | DIR_READ};
|
||||
uint8_t INT_STATUS{0};
|
||||
uint8_t FIFO_COUNTH{0};
|
||||
uint8_t FIFO_COUNTL{0};
|
||||
FIFO::DATA f[FIFO_MAX_SAMPLES] {};
|
||||
};
|
||||
// ensure no struct padding
|
||||
static_assert(sizeof(FIFOTransferBuffer) == (4 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)),
|
||||
"Invalid FIFOTransferBuffer size");
|
||||
|
||||
struct register_bank0_config_t {
|
||||
Register::BANK_0 reg;
|
||||
uint8_t set_bits{0};
|
||||
uint8_t clear_bits{0};
|
||||
};
|
||||
|
||||
struct register_bank1_config_t {
|
||||
Register::BANK_1 reg;
|
||||
uint8_t set_bits{0};
|
||||
uint8_t clear_bits{0};
|
||||
};
|
||||
|
||||
struct register_bank2_config_t {
|
||||
Register::BANK_2 reg;
|
||||
uint8_t set_bits{0};
|
||||
uint8_t clear_bits{0};
|
||||
};
|
||||
|
||||
int probe() override;
|
||||
|
||||
bool Reset();
|
||||
|
||||
bool Configure();
|
||||
void ConfigureSampleRate(int sample_rate);
|
||||
void ConfigureFIFOWatermark(uint8_t samples);
|
||||
|
||||
void SelectRegisterBank(enum REG_BANK_SEL_BIT bank, bool force = false);
|
||||
void SelectRegisterBank(Register::BANK_0 reg) { SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0); }
|
||||
void SelectRegisterBank(Register::BANK_1 reg) { SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_1); }
|
||||
void SelectRegisterBank(Register::BANK_2 reg) { SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_2); }
|
||||
|
||||
static int DataReadyInterruptCallback(int irq, void *context, void *arg);
|
||||
void DataReady();
|
||||
bool DataReadyInterruptConfigure();
|
||||
bool DataReadyInterruptDisable();
|
||||
|
||||
template <typename T> bool RegisterCheck(const T ®_cfg);
|
||||
template <typename T> uint8_t RegisterRead(T reg);
|
||||
template <typename T> void RegisterWrite(T reg, uint8_t value);
|
||||
template <typename T> void RegisterSetAndClearBits(T reg, uint8_t setbits, uint8_t clearbits);
|
||||
template <typename T> void RegisterSetBits(T reg, uint8_t setbits) { RegisterSetAndClearBits(reg, setbits, 0); }
|
||||
template <typename T> void RegisterClearBits(T reg, uint8_t clearbits) { RegisterSetAndClearBits(reg, 0, clearbits); }
|
||||
|
||||
uint16_t FIFOReadCount();
|
||||
bool FIFORead(const hrt_abstime ×tamp_sample, uint16_t samples);
|
||||
void FIFOReset();
|
||||
|
||||
void ProcessIMU(const hrt_abstime ×tamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
|
||||
void ProcessAccel(const hrt_abstime ×tamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
|
||||
void ProcessGyro(const hrt_abstime ×tamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
|
||||
bool ProcessTemperature(const FIFO::DATA fifo[], const uint8_t samples);
|
||||
|
||||
const spi_drdy_gpio_t _drdy_gpio;
|
||||
|
||||
// std::shared_ptr<PX4Accelerometer> _px4_accel;
|
||||
// std::shared_ptr<PX4Gyroscope> _px4_gyro;
|
||||
PX4Accelerometer _px4_accel;
|
||||
PX4Gyroscope _px4_gyro;
|
||||
|
||||
perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
|
||||
perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
|
||||
perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO empty")};
|
||||
perf_counter_t _fifo_overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO overflow")};
|
||||
perf_counter_t _fifo_reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO reset")};
|
||||
perf_counter_t _drdy_missed_perf{nullptr};
|
||||
|
||||
hrt_abstime _reset_timestamp{0};
|
||||
hrt_abstime _last_config_check_timestamp{0};
|
||||
hrt_abstime _temperature_update_timestamp{0};
|
||||
int _failure_count{0};
|
||||
|
||||
enum REG_BANK_SEL_BIT _last_register_bank {REG_BANK_SEL_BIT::USER_BANK_0};
|
||||
|
||||
px4::atomic<uint32_t> _drdy_fifo_read_samples{0};
|
||||
bool _data_ready_interrupt_enabled{false};
|
||||
|
||||
enum class STATE : uint8_t {
|
||||
RESET,
|
||||
WAIT_FOR_RESET,
|
||||
CONFIGURE,
|
||||
FIFO_READ,
|
||||
} _state{STATE::RESET};
|
||||
|
||||
uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval
|
||||
uint32_t _fifo_gyro_samples{static_cast<uint32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
|
||||
|
||||
uint8_t _checked_register_bank0{0};
|
||||
static constexpr uint8_t size_register_bank0_cfg{12};
|
||||
register_bank0_config_t _register_bank0_cfg[size_register_bank0_cfg] {
|
||||
// Register | Set bits, Clear bits
|
||||
{ Register::BANK_0::INT_CONFIG, INT_CONFIG_BIT::INT1_MODE | INT_CONFIG_BIT::INT1_DRIVE_CIRCUIT, INT_CONFIG_BIT::INT1_POLARITY },
|
||||
{ Register::BANK_0::FIFO_CONFIG, FIFO_CONFIG_BIT::FIFO_MODE_STOP_ON_FULL, 0 },
|
||||
{ Register::BANK_0::GYRO_CONFIG0, GYRO_CONFIG0_BIT::GYRO_FS_SEL_2000_DPS | GYRO_CONFIG0_BIT::GYRO_ODR_8KHZ_SET, GYRO_CONFIG0_BIT::GYRO_ODR_8KHZ_CLEAR },
|
||||
{ Register::BANK_0::ACCEL_CONFIG0, ACCEL_CONFIG0_BIT::ACCEL_FS_SEL_16G | ACCEL_CONFIG0_BIT::ACCEL_ODR_8KHZ_SET, ACCEL_CONFIG0_BIT::ACCEL_ODR_8KHZ_CLEAR },
|
||||
{ Register::BANK_0::GYRO_CONFIG1, 0, GYRO_CONFIG1_BIT::GYRO_UI_FILT_ORD },
|
||||
{ Register::BANK_0::GYRO_ACCEL_CONFIG0, 0, GYRO_ACCEL_CONFIG0_BIT::ACCEL_UI_FILT_BW | GYRO_ACCEL_CONFIG0_BIT::GYRO_UI_FILT_BW },
|
||||
{ Register::BANK_0::ACCEL_CONFIG1, 0, ACCEL_CONFIG1_BIT::ACCEL_UI_FILT_ORD },
|
||||
{ Register::BANK_0::FIFO_CONFIG1, FIFO_CONFIG1_BIT::FIFO_WM_GT_TH | FIFO_CONFIG1_BIT::FIFO_HIRES_EN | FIFO_CONFIG1_BIT::FIFO_TEMP_EN | FIFO_CONFIG1_BIT::FIFO_GYRO_EN | FIFO_CONFIG1_BIT::FIFO_ACCEL_EN, 0 },
|
||||
{ Register::BANK_0::FIFO_CONFIG2, 0, 0 }, // FIFO_WM[7:0] set at runtime
|
||||
{ Register::BANK_0::FIFO_CONFIG3, 0, 0 }, // FIFO_WM[11:8] set at runtime
|
||||
{ Register::BANK_0::INT_CONFIG0, INT_CONFIG0_BIT::CLEAR_ON_FIFO_READ, 0 },
|
||||
{ Register::BANK_0::INT_SOURCE0, INT_SOURCE0_BIT::FIFO_THS_INT1_EN, 0 },
|
||||
};
|
||||
|
||||
uint8_t _checked_register_bank1{0};
|
||||
static constexpr uint8_t size_register_bank1_cfg{4};
|
||||
register_bank1_config_t _register_bank1_cfg[size_register_bank1_cfg] {
|
||||
// Register | Set bits, Clear bits
|
||||
{ Register::BANK_1::GYRO_CONFIG_STATIC2, 0, GYRO_CONFIG_STATIC2_BIT::GYRO_NF_DIS | GYRO_CONFIG_STATIC2_BIT::GYRO_AAF_DIS },
|
||||
{ Register::BANK_1::GYRO_CONFIG_STATIC3, GYRO_CONFIG_STATIC3_BIT::GYRO_AAF_DELT_SET, GYRO_CONFIG_STATIC3_BIT::GYRO_AAF_DELT_CLEAR},
|
||||
{ Register::BANK_1::GYRO_CONFIG_STATIC4, GYRO_CONFIG_STATIC4_BIT::GYRO_AAF_DELTSQR_LOW_SET, GYRO_CONFIG_STATIC4_BIT::GYRO_AAF_DELTSQR_LOW_CLEAR},
|
||||
{ Register::BANK_1::GYRO_CONFIG_STATIC5, GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_BITSHIFT_SET | GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_DELTSQR_HIGH_SET, GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_BITSHIFT_CLEAR | GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_DELTSQR_HIGH_CLEAR},
|
||||
};
|
||||
|
||||
uint8_t _checked_register_bank2{0};
|
||||
static constexpr uint8_t size_register_bank2_cfg{3};
|
||||
register_bank2_config_t _register_bank2_cfg[size_register_bank2_cfg] {
|
||||
// Register | Set bits, Clear bits
|
||||
{ Register::BANK_2::ACCEL_CONFIG_STATIC2, ACCEL_CONFIG_STATIC2_BIT::ACCEL_AAF_DELT_SET, ACCEL_CONFIG_STATIC2_BIT::ACCEL_AAF_DELT_CLEAR | ACCEL_CONFIG_STATIC2_BIT::ACCEL_AAF_DIS },
|
||||
{ Register::BANK_2::ACCEL_CONFIG_STATIC3, ACCEL_CONFIG_STATIC3_BIT::ACCEL_AAF_DELTSQR_LOW_SET, ACCEL_CONFIG_STATIC3_BIT::ACCEL_AAF_DELTSQR_LOW_CLEAR },
|
||||
{ Register::BANK_2::ACCEL_CONFIG_STATIC4, ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_BITSHIFT_SET | ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_DELTSQR_HIGH_SET, ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_BITSHIFT_CLEAR | ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_DELTSQR_HIGH_CLEAR },
|
||||
};
|
||||
|
||||
uint32_t _temperature_samples{0};
|
||||
|
||||
// Support for the IMU server
|
||||
uint32_t _imu_server_index{0};
|
||||
uint32_t _imu_server_decimator{0};
|
||||
imu_server_s _imu_server_data;
|
||||
uORB::Publication<imu_server_s> _imu_server_pub{ORB_ID(imu_server)};
|
||||
|
||||
};
|
||||
@@ -1,430 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file InvenSense_ICM42688P_registers.hpp
|
||||
*
|
||||
* Invensense ICM-42688-P registers.
|
||||
*
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <cstdint>
|
||||
|
||||
namespace InvenSense_ICM42688P
|
||||
{
|
||||
// TODO: move to a central header
|
||||
static constexpr uint8_t Bit0 = (1 << 0);
|
||||
static constexpr uint8_t Bit1 = (1 << 1);
|
||||
static constexpr uint8_t Bit2 = (1 << 2);
|
||||
static constexpr uint8_t Bit3 = (1 << 3);
|
||||
static constexpr uint8_t Bit4 = (1 << 4);
|
||||
static constexpr uint8_t Bit5 = (1 << 5);
|
||||
static constexpr uint8_t Bit6 = (1 << 6);
|
||||
static constexpr uint8_t Bit7 = (1 << 7);
|
||||
|
||||
static constexpr uint32_t SPI_SPEED = 24 * 1000 * 1000; // 24 MHz SPI
|
||||
static constexpr uint8_t DIR_READ = 0x80;
|
||||
|
||||
static constexpr uint8_t WHOAMI = 0x47;
|
||||
|
||||
static constexpr float TEMPERATURE_SENSITIVITY = 132.48f; // LSB/C
|
||||
static constexpr float TEMPERATURE_OFFSET = 25.f; // C
|
||||
|
||||
namespace Register
|
||||
{
|
||||
|
||||
enum class BANK_0 : uint8_t {
|
||||
DEVICE_CONFIG = 0x11,
|
||||
|
||||
INT_CONFIG = 0x14,
|
||||
|
||||
FIFO_CONFIG = 0x16,
|
||||
|
||||
TEMP_DATA1 = 0x1D,
|
||||
TEMP_DATA0 = 0x1E,
|
||||
|
||||
INT_STATUS = 0x2D,
|
||||
FIFO_COUNTH = 0x2E,
|
||||
FIFO_COUNTL = 0x2F,
|
||||
FIFO_DATA = 0x30,
|
||||
|
||||
SIGNAL_PATH_RESET = 0x4B,
|
||||
INTF_CONFIG0 = 0x4C,
|
||||
INTF_CONFIG1 = 0x4D,
|
||||
PWR_MGMT0 = 0x4E,
|
||||
GYRO_CONFIG0 = 0x4F,
|
||||
ACCEL_CONFIG0 = 0x50,
|
||||
GYRO_CONFIG1 = 0x51,
|
||||
GYRO_ACCEL_CONFIG0 = 0x52,
|
||||
ACCEL_CONFIG1 = 0x53,
|
||||
|
||||
FIFO_CONFIG1 = 0x5F,
|
||||
FIFO_CONFIG2 = 0x60,
|
||||
FIFO_CONFIG3 = 0x61,
|
||||
|
||||
INT_CONFIG0 = 0x63,
|
||||
|
||||
INT_SOURCE0 = 0x65,
|
||||
|
||||
SELF_TEST_CONFIG = 0x70,
|
||||
|
||||
WHO_AM_I = 0x75,
|
||||
REG_BANK_SEL = 0x76,
|
||||
};
|
||||
|
||||
enum class BANK_1 : uint8_t {
|
||||
GYRO_CONFIG_STATIC2 = 0x0B,
|
||||
GYRO_CONFIG_STATIC3 = 0x0C,
|
||||
GYRO_CONFIG_STATIC4 = 0x0D,
|
||||
GYRO_CONFIG_STATIC5 = 0x0E,
|
||||
INTF_CONFIG5 = 0x7B,
|
||||
};
|
||||
enum class BANK_2 : uint8_t {
|
||||
ACCEL_CONFIG_STATIC2 = 0x03,
|
||||
ACCEL_CONFIG_STATIC3 = 0x04,
|
||||
ACCEL_CONFIG_STATIC4 = 0x05,
|
||||
};
|
||||
|
||||
};
|
||||
|
||||
//---------------- BANK0 Register bits
|
||||
|
||||
// DEVICE_CONFIG
|
||||
enum DEVICE_CONFIG_BIT : uint8_t {
|
||||
SOFT_RESET_CONFIG = Bit0, //
|
||||
};
|
||||
|
||||
// INT_CONFIG
|
||||
enum INT_CONFIG_BIT : uint8_t {
|
||||
INT1_MODE = Bit2,
|
||||
INT1_DRIVE_CIRCUIT = Bit1,
|
||||
INT1_POLARITY = Bit0,
|
||||
};
|
||||
|
||||
// FIFO_CONFIG
|
||||
enum FIFO_CONFIG_BIT : uint8_t {
|
||||
// 7:6 FIFO_MODE
|
||||
FIFO_MODE_STOP_ON_FULL = Bit7 | Bit6, // 11: STOP-on-FULL Mode
|
||||
};
|
||||
|
||||
// INT_STATUS
|
||||
enum INT_STATUS_BIT : uint8_t {
|
||||
RESET_DONE_INT = Bit4,
|
||||
DATA_RDY_INT = Bit3,
|
||||
FIFO_THS_INT = Bit2,
|
||||
FIFO_FULL_INT = Bit1,
|
||||
};
|
||||
|
||||
// SIGNAL_PATH_RESET
|
||||
enum SIGNAL_PATH_RESET_BIT : uint8_t {
|
||||
ABORT_AND_RESET = Bit3,
|
||||
FIFO_FLUSH = Bit1,
|
||||
};
|
||||
|
||||
// PWR_MGMT0
|
||||
enum PWR_MGMT0_BIT : uint8_t {
|
||||
GYRO_MODE_LOW_NOISE = Bit3 | Bit2, // 11: Places gyroscope in Low Noise (LN) Mode
|
||||
ACCEL_MODE_LOW_NOISE = Bit1 | Bit0, // 11: Places accelerometer in Low Noise (LN) Mode
|
||||
};
|
||||
|
||||
// GYRO_CONFIG0
|
||||
enum GYRO_CONFIG0_BIT : uint8_t {
|
||||
// 7:5 GYRO_FS_SEL
|
||||
GYRO_FS_SEL_2000_DPS = 0, // 0b000 = ±2000dps (default)
|
||||
GYRO_FS_SEL_1000_DPS = Bit5,
|
||||
GYRO_FS_SEL_500_DPS = Bit6,
|
||||
GYRO_FS_SEL_250_DPS = Bit6 | Bit5,
|
||||
GYRO_FS_SEL_125_DPS = Bit7,
|
||||
|
||||
|
||||
// 3:0 GYRO_ODR
|
||||
// 0001: 32kHz
|
||||
GYRO_ODR_32KHZ_SET = Bit0,
|
||||
GYRO_ODR_32KHZ_CLEAR = Bit3 | Bit2 | Bit0,
|
||||
// 0010: 16kHz
|
||||
GYRO_ODR_16KHZ_SET = Bit1,
|
||||
GYRO_ODR_16KHZ_CLEAR = Bit3 | Bit2 | Bit0,
|
||||
// 0011: 8kHz
|
||||
GYRO_ODR_8KHZ_SET = Bit1 | Bit0,
|
||||
GYRO_ODR_8KHZ_CLEAR = Bit3 | Bit2,
|
||||
// 0110: 1kHz (default)
|
||||
GYRO_ODR_1KHZ_SET = Bit2 | Bit1,
|
||||
GYRO_ODR_1KHZ_CLEAR = Bit3 | Bit0,
|
||||
};
|
||||
|
||||
// ACCEL_CONFIG0
|
||||
enum ACCEL_CONFIG0_BIT : uint8_t {
|
||||
// 7:5 ACCEL_FS_SEL
|
||||
ACCEL_FS_SEL_16G = 0, // 000: ±16g (default)
|
||||
ACCEL_FS_SEL_8G = Bit5,
|
||||
ACCEL_FS_SEL_4G = Bit6,
|
||||
ACCEL_FS_SEL_2G = Bit6 | Bit5,
|
||||
|
||||
|
||||
// 3:0 ACCEL_ODR
|
||||
// 0001: 32kHz
|
||||
ACCEL_ODR_32KHZ_SET = Bit0,
|
||||
ACCEL_ODR_32KHZ_CLEAR = Bit3 | Bit2 | Bit0,
|
||||
// 0010: 16kHz
|
||||
ACCEL_ODR_16KHZ_SET = Bit1,
|
||||
ACCEL_ODR_16KHZ_CLEAR = Bit3 | Bit2 | Bit0,
|
||||
// 0011: 8kHz
|
||||
ACCEL_ODR_8KHZ_SET = Bit1 | Bit0,
|
||||
ACCEL_ODR_8KHZ_CLEAR = Bit3 | Bit2,
|
||||
// 0110: 1kHz (default)
|
||||
ACCEL_ODR_1KHZ_SET = Bit2 | Bit1,
|
||||
ACCEL_ODR_1KHZ_CLEAR = Bit3 | Bit0,
|
||||
};
|
||||
|
||||
// GYRO_CONFIG1
|
||||
enum GYRO_CONFIG1_BIT : uint8_t {
|
||||
GYRO_UI_FILT_ORD = Bit3 | Bit2, // 00: 1st Order
|
||||
};
|
||||
|
||||
// GYRO_ACCEL_CONFIG0
|
||||
enum GYRO_ACCEL_CONFIG0_BIT : uint8_t {
|
||||
// 7:4 ACCEL_UI_FILT_BW
|
||||
ACCEL_UI_FILT_BW = Bit7 | Bit6 | Bit5 | Bit4, // 0: BW=ODR/2
|
||||
|
||||
// 3:0 GYRO_UI_FILT_BW
|
||||
GYRO_UI_FILT_BW = Bit3 | Bit2 | Bit1 | Bit0, // 0: BW=ODR/2
|
||||
};
|
||||
|
||||
// ACCEL_CONFIG1
|
||||
enum ACCEL_CONFIG1_BIT : uint8_t {
|
||||
ACCEL_UI_FILT_ORD = Bit4 | Bit3, // 00: 1st Order
|
||||
};
|
||||
|
||||
// FIFO_CONFIG1
|
||||
enum FIFO_CONFIG1_BIT : uint8_t {
|
||||
FIFO_RESUME_PARTIAL_RD = Bit6,
|
||||
FIFO_WM_GT_TH = Bit5,
|
||||
FIFO_HIRES_EN = Bit4,
|
||||
FIFO_TEMP_EN = Bit2,
|
||||
FIFO_GYRO_EN = Bit1,
|
||||
FIFO_ACCEL_EN = Bit0,
|
||||
};
|
||||
|
||||
// INT_CONFIG0
|
||||
enum INT_CONFIG0_BIT : uint8_t {
|
||||
// 3:2 FIFO_THS_INT_CLEAR
|
||||
CLEAR_ON_FIFO_READ = Bit3,
|
||||
};
|
||||
|
||||
// INT_SOURCE0
|
||||
enum INT_SOURCE0_BIT : uint8_t {
|
||||
UI_FSYNC_INT1_EN = Bit6,
|
||||
PLL_RDY_INT1_EN = Bit5,
|
||||
RESET_DONE_INT1_EN = Bit4,
|
||||
UI_DRDY_INT1_EN = Bit3,
|
||||
FIFO_THS_INT1_EN = Bit2, // FIFO threshold interrupt routed to INT1
|
||||
FIFO_FULL_INT1_EN = Bit1,
|
||||
UI_AGC_RDY_INT1_EN = Bit0,
|
||||
};
|
||||
|
||||
// REG_BANK_SEL
|
||||
enum REG_BANK_SEL_BIT : uint8_t {
|
||||
USER_BANK_0 = 0, // 0: Select USER BANK 0.
|
||||
USER_BANK_1 = Bit0, // 1: Select USER BANK 1.
|
||||
USER_BANK_2 = Bit1, // 2: Select USER BANK 2.
|
||||
USER_BANK_3 = Bit1 | Bit0, // 3: Select USER BANK 3.
|
||||
};
|
||||
|
||||
|
||||
//---------------- BANK1 Register bits
|
||||
|
||||
// GYRO_CONFIG_STATIC2
|
||||
enum GYRO_CONFIG_STATIC2_BIT : uint8_t {
|
||||
GYRO_AAF_DIS = Bit1,
|
||||
GYRO_NF_DIS = Bit0,
|
||||
};
|
||||
|
||||
// GYRO_CONFIG_STATIC3
|
||||
enum GYRO_CONFIG_STATIC3_BIT : uint8_t {
|
||||
|
||||
// 585 Hz
|
||||
GYRO_AAF_DELT_SET = Bit3 | Bit2 | Bit0, //13
|
||||
GYRO_AAF_DELT_CLEAR = Bit5 | Bit4 | Bit1,
|
||||
|
||||
// 213 Hz
|
||||
// GYRO_AAF_DELT_SET = Bit2 | Bit0, //5
|
||||
// GYRO_AAF_DELT_CLEAR = Bit5 | Bit4 | Bit3 | Bit1,
|
||||
|
||||
// 126 Hz
|
||||
//GYRO_AAF_DELT_SET = Bit1 | Bit0, //3
|
||||
//GYRO_AAF_DELT_CLEAR = Bit5 | Bit4 | Bit3 | Bit2,
|
||||
|
||||
// 42 Hz
|
||||
// GYRO_AAF_DELT_SET = Bit0, //1
|
||||
// GYRO_AAF_DELT_CLEAR = Bit5 | Bit4 | Bit3 | Bit2 | Bit1,
|
||||
|
||||
};
|
||||
|
||||
// GYRO_CONFIG_STATIC4
|
||||
enum GYRO_CONFIG_STATIC4_BIT : uint8_t {
|
||||
|
||||
// 585 Hz
|
||||
GYRO_AAF_DELTSQR_LOW_SET = Bit7 | Bit5 | Bit3 | Bit1, //170
|
||||
GYRO_AAF_DELTSQR_LOW_CLEAR = Bit6 | Bit4 | Bit2 | Bit0,
|
||||
|
||||
// 213 Hz
|
||||
// GYRO_AAF_DELTSQR_LOW_SET = Bit4 | Bit3 | Bit0, //25
|
||||
// GYRO_AAF_DELTSQR_LOW_CLEAR = Bit7 | Bit6 | Bit5 | Bit2 | Bit1,
|
||||
|
||||
// 126 Hz
|
||||
//GYRO_AAF_DELTSQR_LOW_SET = Bit3 | Bit0, //9
|
||||
//GYRO_AAF_DELTSQR_LOW_CLEAR = Bit7 | Bit6 | Bit5 | Bit4 | Bit2 | Bit1,
|
||||
|
||||
// 42 Hz
|
||||
// GYRO_AAF_DELTSQR_LOW_SET = Bit0, //1
|
||||
// GYRO_AAF_DELTSQR_LOW_CLEAR = Bit7 | Bit6 | Bit5 | Bit4 | Bit3 | Bit2 | Bit1,
|
||||
};
|
||||
|
||||
// GYRO_CONFIG_STATIC5
|
||||
enum GYRO_CONFIG_STATIC5_BIT : uint8_t {
|
||||
|
||||
// 585 Hz
|
||||
GYRO_AAF_DELTSQR_HIGH_SET = 0,
|
||||
GYRO_AAF_DELTSQR_HIGH_CLEAR = Bit3 | Bit2 | Bit1 | Bit0,
|
||||
GYRO_AAF_BITSHIFT_SET = Bit7, // 8 << 4
|
||||
GYRO_AAF_BITSHIFT_CLEAR = Bit6 | Bit5 | Bit4,
|
||||
|
||||
// 213 Hz
|
||||
// GYRO_AAF_DELTSQR_HIGH_SET = 0,
|
||||
// GYRO_AAF_DELTSQR_HIGH_CLEAR = Bit3 | Bit2 | Bit1 | Bit0,
|
||||
// GYRO_AAF_BITSHIFT_SET = Bit7 | Bit5, //10
|
||||
// GYRO_AAF_BITSHIFT_CLEAR = Bit6 | Bit4,
|
||||
|
||||
// 126 Hz
|
||||
// GYRO_AAF_BITSHIFT_SET = Bit7 | Bit6, //12
|
||||
// GYRO_AAF_BITSHIFT_CLEAR = Bit5 | Bit4,
|
||||
|
||||
// 42 Hz
|
||||
// GYRO_AAF_BITSHIFT_SET = Bit7 | Bit6 | Bit5 | Bit4, //15
|
||||
// GYRO_AAF_BITSHIFT_CLEAR = 0,
|
||||
|
||||
|
||||
};
|
||||
|
||||
|
||||
//---------------- BANK2 Register bits
|
||||
|
||||
// ACCEL_CONFIG_STATIC2
|
||||
enum ACCEL_CONFIG_STATIC2_BIT : uint8_t {
|
||||
ACCEL_AAF_DIS = Bit0,
|
||||
ACCEL_AAF_DELT = Bit3 | Bit1,
|
||||
|
||||
// 213 Hz
|
||||
ACCEL_AAF_DELT_SET = Bit3 | Bit1, //5
|
||||
ACCEL_AAF_DELT_CLEAR = Bit6 | Bit5 | Bit4 | Bit2,
|
||||
|
||||
// 42 Hz
|
||||
// ACCEL_AAF_DELT_SET = Bit1, //1
|
||||
// ACCEL_AAF_DELT_CLEAR = Bit6 | Bit5 | Bit4 | Bit3 | Bit2,
|
||||
};
|
||||
|
||||
// ACCEL_CONFIG_STATIC3
|
||||
enum ACCEL_CONFIG_STATIC3_BIT : uint8_t {
|
||||
ACCEL_AAF_DELTSQR_LOW = Bit4 | Bit3 | Bit0,
|
||||
// 213 Hz
|
||||
ACCEL_AAF_DELTSQR_LOW_SET = Bit4 | Bit3 | Bit0, //25
|
||||
ACCEL_AAF_DELTSQR_LOW_CLEAR = Bit7 | Bit6 | Bit5 | Bit2 | Bit1,
|
||||
|
||||
// 42 Hz
|
||||
// ACCEL_AAF_DELTSQR_LOW_SET = Bit0, //1
|
||||
// ACCEL_AAF_DELTSQR_LOW_CLEAR = Bit7 | Bit6 | Bit5 | Bit4 | Bit3 | Bit2 | Bit1,
|
||||
|
||||
};
|
||||
|
||||
// ACCEL_CONFIG_STATIC4
|
||||
enum ACCEL_CONFIG_STATIC4_BIT : uint8_t {
|
||||
ACCEL_AAF_BITSHIFT = Bit7 | Bit5,
|
||||
ACCEL_AAF_DELTSQR_HIGH = 0,
|
||||
// 213 Hz
|
||||
ACCEL_AAF_BITSHIFT_SET = Bit7 | Bit5, //10
|
||||
ACCEL_AAF_BITSHIFT_CLEAR = Bit6 | Bit4,
|
||||
|
||||
// 42 Hz
|
||||
// ACCEL_AAF_BITSHIFT_SET = Bit7 | Bit6 | Bit5 | Bit4, //15
|
||||
// ACCEL_AAF_BITSHIFT_CLEAR = 0,
|
||||
|
||||
ACCEL_AAF_DELTSQR_HIGH_SET = 0,
|
||||
ACCEL_AAF_DELTSQR_HIGH_CLEAR = Bit3 | Bit2 | Bit1 | Bit0,
|
||||
};
|
||||
|
||||
|
||||
namespace FIFO
|
||||
{
|
||||
static constexpr size_t SIZE = 2048;
|
||||
|
||||
// FIFO_DATA layout when FIFO_CONFIG1 has FIFO_GYRO_EN and FIFO_ACCEL_EN set
|
||||
|
||||
// Packet 4
|
||||
struct DATA {
|
||||
uint8_t FIFO_Header;
|
||||
uint8_t ACCEL_DATA_X1; // Accel X [19:12]
|
||||
uint8_t ACCEL_DATA_X0; // Accel X [11:4]
|
||||
uint8_t ACCEL_DATA_Y1; // Accel Y [19:12]
|
||||
uint8_t ACCEL_DATA_Y0; // Accel Y [11:4]
|
||||
uint8_t ACCEL_DATA_Z1; // Accel Z [19:12]
|
||||
uint8_t ACCEL_DATA_Z0; // Accel Z [11:4]
|
||||
uint8_t GYRO_DATA_X1; // Gyro X [19:12]
|
||||
uint8_t GYRO_DATA_X0; // Gyro X [11:4]
|
||||
uint8_t GYRO_DATA_Y1; // Gyro Y [19:12]
|
||||
uint8_t GYRO_DATA_Y0; // Gyro Y [11:4]
|
||||
uint8_t GYRO_DATA_Z1; // Gyro Z [19:12]
|
||||
uint8_t GYRO_DATA_Z0; // Gyro Z [11:4]
|
||||
uint8_t TEMP_DATA1; // Temperature[15:8]
|
||||
uint8_t TEMP_DATA0; // Temperature[7:0]
|
||||
uint8_t TimeStamp_h; // TimeStamp[15:8]
|
||||
uint8_t TimeStamp_l; // TimeStamp[7:0]
|
||||
uint8_t Ext_Accel_X_Gyro_X; // Accel X [3:0] Gyro X [3:0]
|
||||
uint8_t Ext_Accel_Y_Gyro_Y; // Accel Y [3:0] Gyro Y [3:0]
|
||||
uint8_t Ext_Accel_Z_Gyro_Z; // Accel Z [3:0] Gyro Z [3:0]
|
||||
};
|
||||
|
||||
// With FIFO_ACCEL_EN and FIFO_GYRO_EN header should be 8’b_0110_10xx
|
||||
enum FIFO_HEADER_BIT : uint8_t {
|
||||
HEADER_MSG = Bit7, // 1: FIFO is empty
|
||||
HEADER_ACCEL = Bit6, // 1: Packet is sized so that accel data have location in the packet, FIFO_ACCEL_EN must be 1
|
||||
HEADER_GYRO = Bit5, // 1: Packet is sized so that gyro data have location in the packet, FIFO_GYRO_EN must be1
|
||||
HEADER_20 = Bit4, // 1: Packet has a new and valid sample of extended 20-bit data for gyro and/or accel
|
||||
HEADER_TIMESTAMP_FSYNC = Bit3 | Bit2,
|
||||
HEADER_ODR_ACCEL = Bit1, // 1: The ODR for accel is different for this accel data packet compared to the previous accel packet
|
||||
HEADER_ODR_GYRO = Bit0, // 1: The ODR for gyro is different for this gyro data packet compared to the previous gyro packet
|
||||
};
|
||||
|
||||
}
|
||||
} // namespace InvenSense_ICM42688P
|
||||
@@ -1,116 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include "ICM42688P.hpp"
|
||||
|
||||
#include <px4_platform_common/getopt.h>
|
||||
#include <px4_platform_common/module.h>
|
||||
#include <string>
|
||||
|
||||
void ICM42688P::print_usage()
|
||||
{
|
||||
PRINT_MODULE_USAGE_NAME("icm42688p", "driver");
|
||||
PRINT_MODULE_USAGE_SUBCATEGORY("imu");
|
||||
PRINT_MODULE_USAGE_COMMAND("start");
|
||||
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
|
||||
PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
|
||||
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
|
||||
}
|
||||
|
||||
// I2CSPIDriverBase *ICM42688P::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
|
||||
// int runtime_instance)
|
||||
// {
|
||||
// ICM42688P *instance = new ICM42688P(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
|
||||
// cli.bus_frequency, cli.spi_mode, iterator.DRDYGPIO());
|
||||
//
|
||||
// if (!instance) {
|
||||
// PX4_ERR("alloc failed");
|
||||
// return nullptr;
|
||||
// }
|
||||
//
|
||||
// if (OK != instance->init()) {
|
||||
// delete instance;
|
||||
// return nullptr;
|
||||
// }
|
||||
//
|
||||
// return instance;
|
||||
// }
|
||||
|
||||
extern "C" int icm42688p_main(int argc, char *argv[])
|
||||
{
|
||||
|
||||
for (int i = 0; i <= argc - 1; i++) {
|
||||
if (std::string(argv[i]) == "-h") {
|
||||
argv[i] = 0;
|
||||
hitl_mode = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
int ch;
|
||||
using ThisDriver = ICM42688P;
|
||||
BusCLIArguments cli{false, true};
|
||||
cli.default_spi_frequency = SPI_SPEED;
|
||||
|
||||
while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) {
|
||||
switch (ch) {
|
||||
case 'R':
|
||||
cli.rotation = (enum Rotation)atoi(cli.optArg());
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
const char *verb = cli.optArg();
|
||||
|
||||
if (!verb) {
|
||||
ThisDriver::print_usage();
|
||||
return -1;
|
||||
}
|
||||
|
||||
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_IMU_DEVTYPE_ICM42688P);
|
||||
|
||||
if (!strcmp(verb, "start")) {
|
||||
return ThisDriver::module_start(cli, iterator);
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "stop")) {
|
||||
return ThisDriver::module_stop(iterator);
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "status")) {
|
||||
return ThisDriver::module_status(iterator);
|
||||
}
|
||||
|
||||
ThisDriver::print_usage();
|
||||
return -1;
|
||||
}
|
||||
@@ -16,7 +16,7 @@ param set-default SENS_EN_INA238 0
|
||||
param set-default SENS_EN_INA228 0
|
||||
param set-default SENS_EN_INA226 1
|
||||
|
||||
if ver hwbasecmp 008 009 00a 010
|
||||
if ver hwbasecmp 008 009 00a 010 011
|
||||
then
|
||||
# Skynode: use the "custom participant" config for uxrce_dds_client
|
||||
param set-default UXRCE_DDS_PTCFG 2
|
||||
|
||||
@@ -3,7 +3,7 @@
|
||||
# board specific MAVLink startup script.
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
if ver hwbasecmp 008 009 00a 010
|
||||
if ver hwbasecmp 008 009 00a 010 011
|
||||
then
|
||||
# Start MAVLink on the UART connected to the mission computer
|
||||
mavlink start -d /dev/ttyS4 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z
|
||||
|
||||
@@ -49,7 +49,7 @@ then
|
||||
fi
|
||||
fi
|
||||
|
||||
if ver hwbasecmp 008 009 00a 010
|
||||
if ver hwbasecmp 008 009 00a 010 011
|
||||
then
|
||||
#SKYNODE base fmu board orientation
|
||||
|
||||
|
||||
@@ -18,7 +18,7 @@ param set-default SENS_EN_INA238 0
|
||||
param set-default SENS_EN_INA228 0
|
||||
param set-default SENS_EN_INA226 0
|
||||
|
||||
if ver hwbasecmp 009 010
|
||||
if ver hwbasecmp 009 010 011
|
||||
then
|
||||
# Skynode: use the "custom participant" config for uxrce_dds_client
|
||||
param set-default UXRCE_DDS_PTCFG 2
|
||||
|
||||
@@ -4,7 +4,7 @@
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
# if skynode base board is detected start Mavlink on Telem2
|
||||
if ver hwbasecmp 009 010
|
||||
if ver hwbasecmp 009 010 011
|
||||
then
|
||||
mavlink start -d /dev/ttyS4 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z
|
||||
|
||||
|
||||
@@ -56,7 +56,7 @@ then
|
||||
fi
|
||||
|
||||
#Start Auterion Power Module selector for Skynode boards
|
||||
if ver hwbasecmp 009 010
|
||||
if ver hwbasecmp 009 010 011
|
||||
then
|
||||
pm_selector_auterion start
|
||||
else
|
||||
@@ -93,7 +93,7 @@ else
|
||||
icm20649 -s -R 6 start
|
||||
else
|
||||
# Internal SPI BMI088
|
||||
if ver hwbasecmp 009 010
|
||||
if ver hwbasecmp 009 010 011
|
||||
then
|
||||
bmi088 -A -R 6 -s start
|
||||
bmi088 -G -R 6 -s start
|
||||
@@ -110,7 +110,7 @@ else
|
||||
fi
|
||||
|
||||
# Internal SPI bus ICM42688p
|
||||
if ver hwbasecmp 009 010
|
||||
if ver hwbasecmp 009 010 011
|
||||
then
|
||||
icm42688p -R 12 -s start
|
||||
else
|
||||
@@ -127,7 +127,7 @@ else
|
||||
# Internal SPI bus ICM-42670-P (hard-mounted)
|
||||
icm42670p -R 10 -s start
|
||||
else
|
||||
if ver hwbasecmp 009 010
|
||||
if ver hwbasecmp 009 010 011
|
||||
then
|
||||
icm20602 -R 6 -s start
|
||||
else
|
||||
|
||||
@@ -6,21 +6,30 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS3"
|
||||
CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
|
||||
CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS5"
|
||||
CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS6"
|
||||
CONFIG_DRIVERS_ADC_ADS1115=y
|
||||
CONFIG_DRIVERS_ADC_BOARD_ADC=y
|
||||
CONFIG_DRIVERS_BAROMETER_BMP388=y
|
||||
CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
|
||||
CONFIG_DRIVERS_BAROMETER_MS5611=y
|
||||
CONFIG_DRIVERS_CAMERA_CAPTURE=y
|
||||
CONFIG_DRIVERS_CAMERA_TRIGGER=y
|
||||
CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y
|
||||
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
|
||||
CONFIG_COMMON_DISTANCE_SENSOR=y
|
||||
CONFIG_DRIVERS_DSHOT=y
|
||||
CONFIG_DRIVERS_GPS=y
|
||||
CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16470=y
|
||||
CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42670P=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
|
||||
CONFIG_COMMON_INS=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
|
||||
CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
|
||||
CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_DRIVERS_OSD_MSP_OSD=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA228=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA238=y
|
||||
@@ -32,14 +41,20 @@ CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
CONFIG_DRIVERS_UAVCAN=y
|
||||
CONFIG_COMMON_UWB=y
|
||||
CONFIG_MODULES_AIRSPEED_SELECTOR=y
|
||||
CONFIG_MODULES_BATTERY_STATUS=y
|
||||
CONFIG_MODULES_CAMERA_FEEDBACK=y
|
||||
CONFIG_MODULES_COMMANDER=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_DATAMAN=y
|
||||
CONFIG_MODULES_EKF2=y
|
||||
CONFIG_MODULES_ESC_BATTERY=y
|
||||
CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
@@ -57,11 +72,15 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
|
||||
|
||||
@@ -4,7 +4,7 @@
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
# if skynode base board is detected start Mavlink on Telem2
|
||||
if ver hwbasecmp 009 010
|
||||
if ver hwbasecmp 009 010 011
|
||||
then
|
||||
mavlink start -d /dev/ttyS5 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z
|
||||
|
||||
|
||||
@@ -1,4 +1,9 @@
|
||||
CONFIG_MODULES_AIRSPEED_SELECTOR=n
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=n
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_FW_POS_CONTROL=n
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=n
|
||||
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
|
||||
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
|
||||
CONFIG_MODULES_MC_ATT_CONTROL=n
|
||||
@@ -6,6 +11,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
|
||||
CONFIG_MODULES_MC_POS_CONTROL=n
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=n
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=n
|
||||
CONFIG_EKF2_AUX_GLOBAL_POSITION=y
|
||||
# CONFIG_EKF2_WIND is not set
|
||||
CONFIG_MODULES_DIFFERENTIAL_DRIVE=y
|
||||
|
||||
@@ -293,12 +293,6 @@ static const px4_hw_mft_item_t base_configuration_9[] = {
|
||||
.mandatory = 1,
|
||||
.connection = px4_hw_con_onboard,
|
||||
},
|
||||
{
|
||||
.id = PX4_MFT_PM2,
|
||||
.present = 1,
|
||||
.mandatory = 1,
|
||||
.connection = px4_hw_con_onboard,
|
||||
},
|
||||
{
|
||||
.id = PX4_MFT_ETHERNET,
|
||||
.present = 1,
|
||||
@@ -316,6 +310,52 @@ static const px4_hw_mft_item_t base_configuration_9[] = {
|
||||
// BASE ID 10 Skynode QS no USB Alaised to ID 9
|
||||
// BASE ID 16 Auterion Skynode RC10, RC11, RC12, RC13 Alaised to ID 0
|
||||
|
||||
// BASE ID 17 Auterion Skynode RC13 with many parts removed
|
||||
static const px4_hw_mft_item_t base_configuration_17[] = {
|
||||
{
|
||||
.id = PX4_MFT_PX4IO,
|
||||
.present = 0,
|
||||
.mandatory = 0,
|
||||
.connection = px4_hw_con_onboard,
|
||||
},
|
||||
{
|
||||
.id = PX4_MFT_USB,
|
||||
.present = 1,
|
||||
.mandatory = 1,
|
||||
.connection = px4_hw_con_unknown,
|
||||
},
|
||||
{
|
||||
.id = PX4_MFT_CAN2,
|
||||
.present = 0,
|
||||
.mandatory = 0,
|
||||
.connection = px4_hw_con_onboard,
|
||||
},
|
||||
{
|
||||
.id = PX4_MFT_CAN3,
|
||||
.present = 0,
|
||||
.mandatory = 0,
|
||||
.connection = px4_hw_con_unknown,
|
||||
},
|
||||
{
|
||||
.id = PX4_MFT_PM2,
|
||||
.present = 0,
|
||||
.mandatory = 0,
|
||||
.connection = px4_hw_con_onboard,
|
||||
},
|
||||
{
|
||||
.id = PX4_MFT_ETHERNET,
|
||||
.present = 1,
|
||||
.mandatory = 1,
|
||||
.connection = px4_hw_con_connector,
|
||||
},
|
||||
{
|
||||
.id = PX4_MFT_T100_ETH,
|
||||
.present = 1,
|
||||
.mandatory = 1,
|
||||
.connection = px4_hw_con_onboard,
|
||||
},
|
||||
};
|
||||
|
||||
|
||||
static px4_hw_mft_list_entry_t mft_lists[] = {
|
||||
// ver_rev
|
||||
@@ -329,6 +369,7 @@ static px4_hw_mft_list_entry_t mft_lists[] = {
|
||||
{HW_BASE_ID(9), base_configuration_9, arraySize(base_configuration_9)}, // Auterion Skynode ver 9
|
||||
{HW_BASE_ID(10), base_configuration_9, arraySize(base_configuration_9)}, // Auterion Skynode ver 10
|
||||
{HW_BASE_ID(16), base_configuration_0, arraySize(base_configuration_0)}, // Auterion Skynode ver 16
|
||||
{HW_BASE_ID(17), base_configuration_17, arraySize(base_configuration_17)}, // Auterion Skynode ver 17
|
||||
};
|
||||
|
||||
/************************************************************************************
|
||||
|
||||
Submodule platforms/nuttx/NuttX/apps updated: 616f7024a4...e37940d853
@@ -77,6 +77,7 @@ BMP388::init()
|
||||
|
||||
if (_chip_id == BMP390_CHIP_ID) {
|
||||
_interface->set_device_type(DRV_BARO_DEVTYPE_BMP390);
|
||||
this->_item_name = "bmp390";
|
||||
}
|
||||
|
||||
_chip_rev_id = _interface->get_reg(BMP3_REV_ID_ADDR);
|
||||
|
||||
@@ -251,7 +251,7 @@ ICP201XX::RunImpl()
|
||||
case STATE::CONFIG: {
|
||||
if (configure()) {
|
||||
_state = STATE::WAIT_READ;
|
||||
ScheduleDelayed(30_ms);
|
||||
ScheduleDelayed(50_ms);
|
||||
|
||||
} else {
|
||||
if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
|
||||
|
||||
@@ -88,7 +88,7 @@ private:
|
||||
FIFO::DATA f[FIFO_MAX_SAMPLES] {};
|
||||
};
|
||||
// ensure no struct padding
|
||||
static_assert(sizeof(FIFOTransferBuffer) == (4 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)));
|
||||
static_assert(sizeof(FIFOTransferBuffer) == (4 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)), "Invalid transfer buffer size");
|
||||
|
||||
struct register_bank0_config_t {
|
||||
Register::BANK_0 reg;
|
||||
|
||||
@@ -162,6 +162,24 @@ public:
|
||||
return res;
|
||||
}
|
||||
|
||||
// Using this function reduces the number of temporary variables needed to compute A * B.T
|
||||
template<size_t P>
|
||||
Matrix<Type, M, M> multiplyByTranspose(const Matrix<Type, P, N> &other) const
|
||||
{
|
||||
Matrix<Type, M, P> res;
|
||||
const Matrix<Type, M, N> &self = *this;
|
||||
|
||||
for (size_t i = 0; i < M; i++) {
|
||||
for (size_t k = 0; k < P; k++) {
|
||||
for (size_t j = 0; j < N; j++) {
|
||||
res(i, k) += self(i, j) * other(k, j);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return res;
|
||||
}
|
||||
|
||||
// Element-wise multiplication
|
||||
Matrix<Type, M, N> emult(const Matrix<Type, M, N> &other) const
|
||||
{
|
||||
|
||||
@@ -1006,8 +1006,8 @@ int do_mag_calibration_quick(orb_advert_t *mavlink_log_pub, float heading_radian
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
calibration_log_critical(mavlink_log_pub, "Assuming vehicle is facing heading %.1f degrees",
|
||||
(double)math::radians(heading_radians));
|
||||
calibration_log_info(mavlink_log_pub, "Assuming vehicle is facing heading %.1f degrees",
|
||||
(double)math::degrees(heading_radians));
|
||||
|
||||
matrix::Eulerf euler{matrix::Quatf{attitude.q}};
|
||||
euler(2) = heading_radians;
|
||||
|
||||
@@ -67,11 +67,11 @@ public:
|
||||
|
||||
void setTrueAirspeed(float true_airspeed) { _true_airspeed = true_airspeed; }
|
||||
|
||||
void setGyroBias(const Vector3f &imu_gyro_bias)
|
||||
void setGyroBias(const Vector3f &imu_gyro_bias, const bool force = false)
|
||||
{
|
||||
// Initialise to gyro bias estimate from main filter because there could be a large
|
||||
// uncorrected rate gyro bias error about the gravity vector
|
||||
if (!_ahrs_ekf_gsf_tilt_aligned || !_ekf_gsf_vel_fuse_started) {
|
||||
if (!_ahrs_ekf_gsf_tilt_aligned || !_ekf_gsf_vel_fuse_started || force) {
|
||||
// init gyro bias for each model
|
||||
for (uint8_t model_index = 0; model_index < N_MODELS_EKFGSF; model_index++) {
|
||||
_ahrs_ekf_gsf[model_index].gyro_bias = imu_gyro_bias;
|
||||
|
||||
@@ -166,11 +166,21 @@ void Ekf::predictCovariance(const imuSample &imu_delayed)
|
||||
if (_control_status.flags.mag) {
|
||||
// mag_I: add process noise
|
||||
float mag_I_sig = dt * math::constrain(_params.mage_p_noise, 0.f, 1.f);
|
||||
P.slice<State::mag_I.dof, 1>(State::mag_I.idx, 0) += sq(mag_I_sig);
|
||||
float mag_I_process_noise = sq(mag_I_sig);
|
||||
|
||||
for (unsigned index = 0; index < State::mag_I.dof; index++) {
|
||||
const unsigned i = State::mag_I.idx + index;
|
||||
P(i, i) += mag_I_process_noise;
|
||||
}
|
||||
|
||||
// mag_B: add process noise
|
||||
float mag_B_sig = dt * math::constrain(_params.magb_p_noise, 0.f, 1.f);
|
||||
P.slice<State::mag_B.dof, 1>(State::mag_B.idx, 0) += sq(mag_B_sig);
|
||||
float mag_B_process_noise = sq(mag_B_sig);
|
||||
|
||||
for (unsigned index = 0; index < State::mag_B.dof; index++) {
|
||||
const unsigned i = State::mag_B.idx + index;
|
||||
P(i, i) += mag_B_process_noise;
|
||||
}
|
||||
}
|
||||
#endif // CONFIG_EKF2_MAGNETOMETER
|
||||
|
||||
@@ -179,7 +189,12 @@ void Ekf::predictCovariance(const imuSample &imu_delayed)
|
||||
if (_control_status.flags.wind) {
|
||||
// wind vel: add process noise
|
||||
float wind_vel_nsd_scaled = math::constrain(_params.wind_vel_nsd, 0.f, 1.f) * (1.f + _params.wind_vel_nsd_scaler * fabsf(_height_rate_lpf));
|
||||
P.slice<State::wind_vel.dof, 1>(State::wind_vel.idx, 0) += sq(wind_vel_nsd_scaled) * dt;
|
||||
float wind_vel_process_noise = sq(wind_vel_nsd_scaled) * dt;
|
||||
|
||||
for (unsigned index = 0; index < State::wind_vel.dof; index++) {
|
||||
const unsigned i = State::wind_vel.idx + index;
|
||||
P(i, i) += wind_vel_process_noise;
|
||||
}
|
||||
}
|
||||
#endif // CONFIG_EKF2_WIND
|
||||
|
||||
|
||||
@@ -472,6 +472,17 @@ public:
|
||||
{
|
||||
clearInhibitedStateKalmanGains(K);
|
||||
|
||||
#if false
|
||||
// Matrix implementation of the Joseph stabilized covariance update
|
||||
// This is extremely expensive to compute. Use for debugging purposes only.
|
||||
auto A = matrix::eye<float, State::size>();
|
||||
A -= K.multiplyByTranspose(H);
|
||||
P = A * P;
|
||||
P = P.multiplyByTranspose(A);
|
||||
|
||||
const VectorState KR = K * R;
|
||||
P += KR.multiplyByTranspose(K);
|
||||
#else
|
||||
// Efficient implementation of the Joseph stabilized covariance update
|
||||
// Based on "G. J. Bierman. Factorization Methods for Discrete Sequential Estimation. Academic Press, Dover Publications, New York, 1977, 2006"
|
||||
|
||||
@@ -479,9 +490,8 @@ public:
|
||||
VectorState PH = P * H;
|
||||
|
||||
for (unsigned i = 0; i < State::size; i++) {
|
||||
for (unsigned j = 0; j <= i; j++) {
|
||||
P(i, j) = P(i, j) - K(i) * PH(j);
|
||||
P(j, i) = P(i, j);
|
||||
for (unsigned j = 0; j < State::size; j++) {
|
||||
P(i, j) -= K(i) * PH(j); // P is now not symmetrical if K is not optimal (e.g.: some gains have been zeroed)
|
||||
}
|
||||
}
|
||||
|
||||
@@ -490,11 +500,11 @@ public:
|
||||
|
||||
for (unsigned i = 0; i < State::size; i++) {
|
||||
for (unsigned j = 0; j <= i; j++) {
|
||||
float s = .5f * (P(i, j) - PH(i) * K(j) + P(i, j) - PH(j) * K(i));
|
||||
P(i, j) = s + K(i) * R * K(j);
|
||||
P(i, j) = P(i, j) - PH(i) * K(j) + K(i) * R * K(j);
|
||||
P(j, i) = P(i, j);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
constrainStateVariances();
|
||||
|
||||
|
||||
@@ -850,6 +850,19 @@ bool Ekf::fuseDirectStateMeasurement(const float innov, const float innov_var, c
|
||||
|
||||
clearInhibitedStateKalmanGains(K);
|
||||
|
||||
#if false
|
||||
// Matrix implementation of the Joseph stabilized covariance update
|
||||
// This is extremely expensive to compute. Use for debugging purposes only.
|
||||
auto A = matrix::eye<float, State::size>();
|
||||
VectorState H;
|
||||
H(state_index) = 1.f;
|
||||
A -= K.multiplyByTranspose(H);
|
||||
P = A * P;
|
||||
P = P.multiplyByTranspose(A);
|
||||
|
||||
const VectorState KR = K * R;
|
||||
P += KR.multiplyByTranspose(K);
|
||||
#else
|
||||
// Efficient implementation of the Joseph stabilized covariance update
|
||||
// Based on "G. J. Bierman. Factorization Methods for Discrete Sequential Estimation. Academic Press, Dover Publications, New York, 1977, 2006"
|
||||
|
||||
@@ -857,9 +870,8 @@ bool Ekf::fuseDirectStateMeasurement(const float innov, const float innov_var, c
|
||||
VectorState PH = P.row(state_index);
|
||||
|
||||
for (unsigned i = 0; i < State::size; i++) {
|
||||
for (unsigned j = 0; j <= i; j++) {
|
||||
P(i, j) = P(i, j) - K(i) * PH(j);
|
||||
P(j, i) = P(i, j);
|
||||
for (unsigned j = 0; j < State::size; j++) {
|
||||
P(i, j) -= K(i) * PH(j); // P is now not symmetrical if K is not optimal (e.g.: some gains have been zeroed)
|
||||
}
|
||||
}
|
||||
|
||||
@@ -868,11 +880,11 @@ bool Ekf::fuseDirectStateMeasurement(const float innov, const float innov_var, c
|
||||
|
||||
for (unsigned i = 0; i < State::size; i++) {
|
||||
for (unsigned j = 0; j <= i; j++) {
|
||||
float s = .5f * (P(i, j) - PH(i) * K(j) + P(i, j) - PH(j) * K(i));
|
||||
P(i, j) = s + K(i) * R * K(j);
|
||||
P(i, j) = P(i, j) - PH(i) * K(j) + K(i) * R * K(j);
|
||||
P(j, i) = P(i, j);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
constrainStateVariances();
|
||||
|
||||
|
||||
@@ -47,7 +47,7 @@ void Ekf::controlGpsFusion(const imuSample &imu_delayed)
|
||||
}
|
||||
|
||||
if (!gyro_bias_inhibited()) {
|
||||
_yawEstimator.setGyroBias(getGyroBias());
|
||||
_yawEstimator.setGyroBias(getGyroBias(), _control_status.flags.vehicle_at_rest);
|
||||
}
|
||||
|
||||
// run EKF-GSF yaw estimator once per imu_delayed update
|
||||
|
||||
@@ -12,380 +12,380 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
|
||||
990000,1,-0.0099,-0.013,0.00013,0.015,0.0064,-0.092,0.0022,0.0014,-0.029,1.6e-05,-1.5e-05,3.3e-07,0,0,-0.00016,0,0,0,0,0,0,0,0,0.021,0.021,0.00065,1.5,1.5,2,0.3,0.3,0.61,0.0099,0.01,0.00068,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
1090000,1,-0.01,-0.014,0.00012,0.016,0.0051,-0.11,0.0018,0.00086,-0.039,4.1e-05,-6.2e-05,9.3e-07,0,0,-0.00016,0,0,0,0,0,0,0,0,0.023,0.023,0.00046,0.93,0.93,2,0.17,0.17,0.84,0.0098,0.0098,0.00042,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
1190000,1,-0.01,-0.014,9.8e-05,0.02,0.0053,-0.12,0.0035,0.0014,-0.051,4.1e-05,-6.2e-05,9.3e-07,0,0,-0.00016,0,0,0,0,0,0,0,0,0.025,0.025,0.00054,1.1,1.1,2,0.24,0.24,1.1,0.0098,0.0098,0.00042,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
1290000,1,-0.01,-0.014,0.00015,0.02,0.0044,-0.14,0.0027,0.00088,-0.064,8.5e-05,-0.00019,2.3e-06,0,0,-0.00016,0,0,0,0,0,0,0,0,0.026,0.026,0.00041,0.89,0.89,2,0.15,0.15,1.4,0.0095,0.0095,0.00028,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
1390000,1,-0.01,-0.014,0.00016,0.026,0.0042,-0.15,0.0051,0.0013,-0.078,8.5e-05,-0.00019,2.3e-06,0,0,-0.00016,0,0,0,0,0,0,0,0,0.028,0.028,0.00047,1.2,1.2,2,0.21,0.21,1.7,0.0095,0.0095,0.00028,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
1490000,1,-0.01,-0.014,0.00014,0.024,0.0029,-0.16,0.0037,0.00083,-0.093,0.00015,-0.00045,4.5e-06,0,0,-0.00016,0,0,0,0,0,0,0,0,0.027,0.027,0.00036,0.96,0.96,2,0.14,0.14,2.1,0.0088,0.0089,0.0002,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
1590000,1,-0.01,-0.014,0.00013,0.03,0.0035,-0.18,0.0065,0.0012,-0.11,0.00015,-0.00045,4.5e-06,0,0,-0.00016,0,0,0,0,0,0,0,0,0.03,0.03,0.00042,1.3,1.3,2,0.21,0.21,2.6,0.0088,0.0089,0.0002,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
1690000,1,-0.011,-0.014,9.6e-05,0.028,-9.9e-05,-0.19,0.0045,0.00063,-0.13,0.0002,-0.00088,7.8e-06,0,0,-0.00017,0,0,0,0,0,0,0,0,0.026,0.026,0.00033,1,1,2,0.14,0.14,3,0.0078,0.0078,0.00015,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
1790000,1,-0.011,-0.014,6.5e-05,0.035,-0.002,-0.2,0.0076,0.00054,-0.15,0.0002,-0.00088,7.8e-06,0,0,-0.00017,0,0,0,0,0,0,0,0,0.028,0.028,0.00037,1.3,1.3,2,0.21,0.21,3.5,0.0078,0.0078,0.00015,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
1890000,1,-0.011,-0.015,4.4e-05,0.043,-0.0032,-0.22,0.011,0.00029,-0.17,0.0002,-0.00088,7.8e-06,0,0,-0.00017,0,0,0,0,0,0,0,0,0.031,0.031,0.00042,1.7,1.7,2,0.31,0.31,4.1,0.0078,0.0078,0.00015,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
1290000,1,-0.01,-0.014,0.00015,0.02,0.0044,-0.14,0.0027,0.00088,-0.064,8.5e-05,-0.00019,2.3e-06,0,0,-0.00016,0,0,0,0,0,0,0,0,0.026,0.026,0.00041,0.88,0.88,2,0.15,0.15,1.4,0.0095,0.0095,0.00028,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
1390000,1,-0.01,-0.014,0.00016,0.026,0.0042,-0.15,0.005,0.0013,-0.078,8.5e-05,-0.00019,2.3e-06,0,0,-0.00016,0,0,0,0,0,0,0,0,0.028,0.028,0.00047,1.2,1.2,2,0.21,0.21,1.7,0.0095,0.0095,0.00028,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
1490000,1,-0.01,-0.014,0.00014,0.024,0.0029,-0.16,0.0037,0.00083,-0.093,0.00015,-0.00045,4.5e-06,0,0,-0.00016,0,0,0,0,0,0,0,0,0.027,0.027,0.00036,0.95,0.95,2,0.14,0.14,2.1,0.0089,0.0089,0.0002,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
1590000,1,-0.01,-0.014,0.00013,0.03,0.0035,-0.18,0.0064,0.0012,-0.11,0.00015,-0.00045,4.5e-06,0,0,-0.00016,0,0,0,0,0,0,0,0,0.03,0.03,0.00042,1.3,1.3,2,0.21,0.21,2.6,0.0089,0.0089,0.0002,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
1690000,1,-0.011,-0.014,9.6e-05,0.028,-0.0001,-0.19,0.0045,0.00062,-0.13,0.0002,-0.00087,7.7e-06,0,0,-0.00017,0,0,0,0,0,0,0,0,0.026,0.026,0.00033,1,1,2,0.14,0.14,3,0.0079,0.0079,0.00015,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
1790000,1,-0.011,-0.014,6.5e-05,0.035,-0.002,-0.2,0.0075,0.00054,-0.15,0.0002,-0.00087,7.7e-06,0,0,-0.00017,0,0,0,0,0,0,0,0,0.028,0.028,0.00037,1.3,1.3,2,0.21,0.21,3.5,0.0079,0.0079,0.00015,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
1890000,1,-0.011,-0.015,4.4e-05,0.043,-0.0032,-0.22,0.011,0.00029,-0.17,0.0002,-0.00087,7.7e-06,0,0,-0.00017,0,0,0,0,0,0,0,0,0.031,0.031,0.00042,1.7,1.7,2,0.31,0.31,4.1,0.0079,0.0079,0.00015,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
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19190000,0.78,-0.015,0.00024,-0.63,-0.017,-0.022,0.0067,-0.009,-0.012,-3.7e+02,-0.0013,-0.006,0.00011,0.0043,-0.059,-0.13,-0.11,-0.024,0.5,-0.00052,-0.091,-0.068,0,0,0.00037,0.00039,0.046,0.014,0.015,0.012,0.041,0.042,0.044,8.6e-07,1.1e-06,5.4e-06,0.03,0.03,0.00062,0.0012,5.9e-05,0.0012,0.00065,0.0012,0.0012,1,1
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19290000,0.78,-0.015,0.00024,-0.63,-0.018,-0.022,0.0094,-0.011,-0.014,-3.7e+02,-0.0013,-0.006,0.00011,0.0042,-0.059,-0.13,-0.11,-0.024,0.5,-0.00053,-0.091,-0.068,0,0,0.00037,0.00039,0.046,0.015,0.016,0.012,0.045,0.046,0.044,8.5e-07,1.1e-06,5.4e-06,0.03,0.03,0.0006,0.0012,5.9e-05,0.0012,0.00065,0.0012,0.0012,1,1
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19390000,0.78,-0.015,0.00027,-0.63,-0.017,-0.02,0.013,-0.0098,-0.013,-3.7e+02,-0.0013,-0.006,0.00012,0.0042,-0.059,-0.13,-0.11,-0.024,0.5,-0.00049,-0.091,-0.068,0,0,0.00037,0.00039,0.046,0.014,0.015,0.012,0.04,0.041,0.043,8.3e-07,1.1e-06,5.4e-06,0.03,0.03,0.00058,0.0012,5.9e-05,0.0012,0.00065,0.0012,0.0012,1,1
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19490000,0.78,-0.015,0.00022,-0.63,-0.017,-0.021,0.0095,-0.012,-0.015,-3.7e+02,-0.0013,-0.006,0.00012,0.0044,-0.059,-0.13,-0.11,-0.024,0.5,-0.00048,-0.091,-0.068,0,0,0.00037,0.00039,0.046,0.015,0.016,0.011,0.044,0.045,0.043,8.2e-07,1.1e-06,5.4e-06,0.03,0.03,0.00057,0.0012,5.8e-05,0.0012,0.00065,0.0012,0.0012,1,1
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20090000,0.78,-0.015,9.3e-05,-0.63,-0.012,-0.018,0.015,-0.011,-0.017,-3.7e+02,-0.0013,-0.006,0.00017,0.0052,-0.059,-0.13,-0.11,-0.024,0.5,-0.00034,-0.091,-0.068,0,0,0.00037,0.00039,0.046,0.014,0.016,0.01,0.042,0.043,0.042,7.3e-07,9.8e-07,5.3e-06,0.03,0.03,0.00047,0.0012,5.8e-05,0.0012,0.00064,0.0012,0.0012,1,1
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20190000,0.78,-0.015,5.7e-05,-0.63,-0.012,-0.016,0.017,-0.011,-0.016,-3.7e+02,-0.0013,-0.0059,0.00018,0.0053,-0.059,-0.13,-0.11,-0.024,0.5,-0.0003,-0.091,-0.068,0,0,0.00037,0.00039,0.046,0.013,0.015,0.01,0.038,0.039,0.041,7.1e-07,9.5e-07,5.3e-06,0.03,0.03,0.00045,0.0012,5.8e-05,0.0012,0.00064,0.0012,0.0012,1,1
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20290000,0.78,-0.015,6e-05,-0.63,-0.011,-0.016,0.015,-0.011,-0.017,-3.7e+02,-0.0013,-0.0059,0.00019,0.0054,-0.059,-0.13,-0.11,-0.024,0.5,-0.0003,-0.091,-0.068,0,0,0.00037,0.00039,0.046,0.014,0.016,0.0099,0.042,0.042,0.041,7e-07,9.4e-07,5.3e-06,0.03,0.03,0.00044,0.0012,5.8e-05,0.0012,0.00064,0.0012,0.0012,1,1
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@@ -12,340 +12,340 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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||||
32490000,-0.27,0.016,-0.0092,0.96,-0.017,0.094,-0.077,0.091,0.01,0.12,-0.0012,-0.0058,0.00015,0.072,-0.039,-0.12,-0.11,-0.024,0.5,0.081,-0.033,-0.067,0,0,0.00038,0.00035,0.043,0.022,0.025,0.0051,0.28,0.29,0.03,2.8e-07,2.5e-07,2.5e-06,0.028,0.028,0.00011,0.0011,5.4e-05,0.0012,0.0011,0.00063,0.0012,1,1
|
||||
32590000,-0.27,0.016,-0.0092,0.96,-0.015,0.093,-0.079,0.092,0.0017,0.1,-0.0012,-0.0058,0.00013,0.072,-0.039,-0.12,-0.11,-0.024,0.5,0.081,-0.033,-0.067,0,0,0.00037,0.00035,0.043,0.021,0.024,0.0051,0.28,0.29,0.03,2.8e-07,2.5e-07,2.4e-06,0.028,0.028,0.00011,0.0011,5.4e-05,0.0012,0.0011,0.00063,0.0012,1,1
|
||||
32690000,-0.27,0.015,-0.0092,0.96,-0.011,0.1,-0.081,0.09,0.011,0.088,-0.0012,-0.0058,0.00013,0.072,-0.039,-0.12,-0.11,-0.024,0.5,0.081,-0.033,-0.067,0,0,0.00037,0.00035,0.043,0.022,0.025,0.0051,0.29,0.3,0.03,2.8e-07,2.5e-07,2.4e-06,0.028,0.028,0.00011,0.0011,5.3e-05,0.0012,0.0011,0.00062,0.0012,1,1
|
||||
32790000,-0.27,0.016,-0.009,0.96,-0.0064,0.097,-0.082,0.092,0.0025,0.073,-0.0012,-0.0058,0.00012,0.072,-0.039,-0.12,-0.11,-0.024,0.5,0.081,-0.033,-0.067,0,0,0.00037,0.00035,0.043,0.021,0.023,0.0051,0.29,0.3,0.03,2.8e-07,2.5e-07,2.4e-06,0.028,0.028,0.00011,0.0011,5.3e-05,0.0012,0.0011,0.00062,0.0012,1,1
|
||||
32890000,-0.27,0.016,-0.009,0.96,-0.0068,0.1,-0.083,0.09,0.012,0.058,-0.0012,-0.0058,0.00013,0.072,-0.039,-0.12,-0.11,-0.024,0.5,0.081,-0.033,-0.067,0,0,0.00037,0.00035,0.043,0.021,0.024,0.0051,0.3,0.31,0.03,2.8e-07,2.5e-07,2.4e-06,0.028,0.028,0.00011,0.0011,5.3e-05,0.0012,0.0011,0.00062,0.0012,1,1
|
||||
32990000,-0.27,0.016,-0.0088,0.96,-0.0028,0.098,-0.083,0.091,-0.002,0.044,-0.0012,-0.0058,0.00011,0.072,-0.039,-0.12,-0.11,-0.024,0.5,0.081,-0.033,-0.067,0,0,0.00037,0.00034,0.043,0.021,0.023,0.0051,0.3,0.31,0.03,2.7e-07,2.4e-07,2.3e-06,0.028,0.028,0.00011,0.0011,5.3e-05,0.0012,0.0011,0.00062,0.0012,1,1
|
||||
33090000,-0.27,0.016,-0.0088,0.96,0.0011,0.1,-0.08,0.091,0.0079,0.037,-0.0012,-0.0058,0.00011,0.072,-0.039,-0.12,-0.11,-0.024,0.5,0.081,-0.033,-0.067,0,0,0.00037,0.00034,0.043,0.021,0.024,0.0051,0.31,0.32,0.03,2.7e-07,2.4e-07,2.3e-06,0.028,0.028,0.00011,0.0011,5.3e-05,0.0012,0.0011,0.00062,0.0012,1,1
|
||||
33190000,-0.27,0.016,-0.0087,0.96,0.0055,0.099,-0.079,0.092,-0.0081,0.029,-0.0012,-0.0058,8e-05,0.073,-0.037,-0.12,-0.11,-0.024,0.5,0.081,-0.034,-0.067,0,0,0.00037,0.00034,0.043,0.02,0.023,0.0051,0.31,0.32,0.03,2.7e-07,2.4e-07,2.3e-06,0.028,0.028,0.00011,0.0011,5.3e-05,0.0012,0.0011,0.00062,0.0012,1,1
|
||||
33290000,-0.27,0.016,-0.0087,0.96,0.0096,0.1,-0.079,0.093,0.0015,0.021,-0.0012,-0.0058,9.7e-05,0.072,-0.037,-0.12,-0.11,-0.024,0.5,0.081,-0.034,-0.067,0,0,0.00037,0.00034,0.043,0.021,0.024,0.0051,0.32,0.33,0.03,2.7e-07,2.4e-07,2.3e-06,0.028,0.028,0.00011,0.0011,5.3e-05,0.0012,0.0011,0.00062,0.0012,1,1
|
||||
33390000,-0.27,0.016,-0.0086,0.96,0.014,0.097,-0.077,0.093,-0.0077,0.013,-0.0013,-0.0058,8.4e-05,0.073,-0.037,-0.12,-0.11,-0.024,0.5,0.081,-0.034,-0.067,0,0,0.00037,0.00034,0.043,0.02,0.023,0.0051,0.32,0.33,0.03,2.7e-07,2.4e-07,2.3e-06,0.028,0.028,0.00011,0.0011,5.3e-05,0.0012,0.0011,0.00062,0.0012,1,1
|
||||
33490000,-0.27,0.016,-0.0086,0.96,0.019,0.1,-0.076,0.095,0.0022,0.0031,-0.0013,-0.0058,9.3e-05,0.073,-0.037,-0.12,-0.11,-0.024,0.5,0.081,-0.034,-0.067,0,0,0.00037,0.00034,0.043,0.021,0.024,0.0051,0.33,0.34,0.03,2.7e-07,2.4e-07,2.3e-06,0.028,0.028,0.00011,0.0011,5.3e-05,0.0012,0.0011,0.00062,0.0012,1,1
|
||||
33590000,-0.27,0.016,-0.0084,0.96,0.023,0.098,-0.073,0.095,-0.012,-0.0048,-0.0013,-0.0058,8.5e-05,0.073,-0.036,-0.12,-0.11,-0.024,0.5,0.081,-0.034,-0.067,0,0,0.00037,0.00034,0.043,0.02,0.023,0.005,0.33,0.34,0.03,2.7e-07,2.4e-07,2.2e-06,0.028,0.028,0.00011,0.0011,5.3e-05,0.0012,0.0011,0.00062,0.0012,1,1
|
||||
33690000,-0.27,0.016,-0.0084,0.96,0.026,0.1,-0.074,0.096,-0.002,-0.013,-0.0013,-0.0058,9e-05,0.073,-0.036,-0.12,-0.11,-0.024,0.5,0.081,-0.034,-0.067,0,0,0.00037,0.00034,0.043,0.021,0.024,0.0051,0.34,0.35,0.03,2.7e-07,2.4e-07,2.2e-06,0.028,0.028,0.00011,0.0011,5.3e-05,0.0012,0.0011,0.00062,0.0012,1,1
|
||||
33790000,-0.27,0.016,-0.0083,0.96,0.028,0.098,-0.068,0.092,-0.016,-0.02,-0.0013,-0.0058,6.7e-05,0.074,-0.035,-0.12,-0.11,-0.024,0.5,0.081,-0.034,-0.067,0,0,0.00037,0.00034,0.043,0.02,0.023,0.005,0.34,0.35,0.03,2.7e-07,2.4e-07,2.2e-06,0.028,0.028,0.00011,0.0011,5.3e-05,0.0012,0.0011,0.00062,0.0012,1,1
|
||||
33890000,-0.27,0.016,-0.0083,0.96,0.033,0.1,-0.068,0.096,-0.0064,-0.026,-0.0013,-0.0058,8.3e-05,0.074,-0.035,-0.12,-0.11,-0.024,0.5,0.081,-0.034,-0.067,0,0,0.00037,0.00034,0.043,0.021,0.024,0.0051,0.35,0.36,0.03,2.7e-07,2.4e-07,2.2e-06,0.028,0.028,0.00011,0.0011,5.3e-05,0.0012,0.0011,0.00062,0.0012,1,1
|
||||
33990000,-0.27,0.016,-0.0082,0.96,0.035,0.097,-0.064,0.094,-0.015,-0.03,-0.0013,-0.0058,6.6e-05,0.075,-0.035,-0.12,-0.11,-0.024,0.5,0.081,-0.034,-0.067,0,0,0.00036,0.00034,0.043,0.02,0.023,0.005,0.35,0.36,0.03,2.6e-07,2.4e-07,2.2e-06,0.028,0.028,0.00011,0.0011,5.3e-05,0.0012,0.0011,0.00062,0.0012,1,1
|
||||
34090000,-0.27,0.016,-0.0081,0.96,0.039,0.1,-0.063,0.097,-0.0055,-0.034,-0.0013,-0.0058,7e-05,0.075,-0.035,-0.12,-0.11,-0.024,0.5,0.081,-0.034,-0.067,0,0,0.00037,0.00034,0.043,0.021,0.024,0.0051,0.36,0.37,0.03,2.6e-07,2.4e-07,2.2e-06,0.028,0.028,0.00011,0.0011,5.3e-05,0.0012,0.0011,0.00062,0.0012,1,1
|
||||
34190000,-0.27,0.016,-0.0081,0.96,0.04,0.098,-0.06,0.092,-0.018,-0.038,-0.0013,-0.0057,6.1e-05,0.075,-0.034,-0.12,-0.11,-0.024,0.5,0.081,-0.034,-0.067,0,0,0.00036,0.00034,0.042,0.02,0.022,0.005,0.36,0.37,0.03,2.6e-07,2.4e-07,2.1e-06,0.028,0.028,0.00011,0.0011,5.3e-05,0.0012,0.0011,0.00062,0.0012,1,1
|
||||
34290000,-0.27,0.016,-0.0079,0.96,0.041,0.1,-0.059,0.096,-0.0076,-0.044,-0.0013,-0.0057,7.2e-05,0.075,-0.034,-0.12,-0.11,-0.024,0.5,0.081,-0.034,-0.067,0,0,0.00037,0.00034,0.042,0.021,0.023,0.005,0.37,0.38,0.03,2.6e-07,2.4e-07,2.1e-06,0.028,0.028,0.00011,0.0011,5.3e-05,0.0012,0.0011,0.00062,0.0012,1,1
|
||||
34390000,-0.27,0.016,-0.0078,0.96,0.042,0.097,-0.054,0.092,-0.02,-0.048,-0.0013,-0.0057,6e-05,0.076,-0.034,-0.12,-0.11,-0.024,0.5,0.081,-0.034,-0.067,0,0,0.00036,0.00034,0.042,0.02,0.022,0.005,0.37,0.37,0.03,2.6e-07,2.4e-07,2.1e-06,0.028,0.028,0.00011,0.0011,5.3e-05,0.0012,0.0011,0.00062,0.0012,1,1
|
||||
34490000,-0.27,0.016,-0.0079,0.96,0.045,0.1,-0.052,0.095,-0.0099,-0.05,-0.0013,-0.0057,7.3e-05,0.076,-0.034,-0.12,-0.11,-0.024,0.5,0.081,-0.034,-0.067,0,0,0.00036,0.00034,0.042,0.021,0.023,0.005,0.38,0.39,0.03,2.6e-07,2.4e-07,2.1e-06,0.028,0.028,0.00011,0.0011,5.3e-05,0.0012,0.0011,0.00062,0.0012,1,1
|
||||
34590000,-0.27,0.016,-0.0078,0.96,0.049,0.094,0.74,0.09,-0.024,-0.022,-0.0013,-0.0057,5.9e-05,0.076,-0.033,-0.12,-0.11,-0.024,0.5,0.081,-0.034,-0.067,0,0,0.00036,0.00033,0.042,0.019,0.022,0.005,0.38,0.38,0.03,2.6e-07,2.3e-07,2.1e-06,0.028,0.028,0.00011,0.0011,5.3e-05,0.0012,0.0011,0.00062,0.0012,1,1
|
||||
34690000,-0.27,0.015,-0.0078,0.96,0.058,0.095,1.7,0.096,-0.015,0.097,-0.0013,-0.0057,6.5e-05,0.076,-0.033,-0.12,-0.11,-0.024,0.5,0.081,-0.034,-0.067,0,0,0.00036,0.00033,0.042,0.02,0.022,0.0051,0.39,0.4,0.03,2.6e-07,2.3e-07,2.1e-06,0.028,0.028,0.00011,0.0011,5.3e-05,0.0012,0.0011,0.00062,0.0012,1,1
|
||||
34790000,-0.27,0.015,-0.0077,0.96,0.062,0.088,2.7,0.089,-0.028,0.28,-0.0013,-0.0057,5.4e-05,0.077,-0.034,-0.12,-0.11,-0.024,0.5,0.081,-0.034,-0.067,0,0,0.00036,0.00033,0.042,0.02,0.021,0.005,0.39,0.39,0.03,2.6e-07,2.3e-07,2.1e-06,0.028,0.028,0.00011,0.0011,5.3e-05,0.0012,0.0011,0.00062,0.0012,1,1
|
||||
34890000,-0.27,0.015,-0.0077,0.96,0.071,0.089,3.7,0.095,-0.02,0.57,-0.0013,-0.0057,6e-05,0.077,-0.033,-0.12,-0.11,-0.024,0.5,0.081,-0.034,-0.067,0,0,0.00036,0.00033,0.042,0.021,0.023,0.005,0.4,0.41,0.03,2.6e-07,2.3e-07,2.1e-06,0.028,0.028,0.0001,0.0011,5.3e-05,0.0012,0.0011,0.00062,0.0012,1,1
|
||||
|
||||
|
@@ -512,25 +512,27 @@ float FixedwingPositionControl::getCorrectedNpfgRollSetpoint()
|
||||
float new_roll_setpoint(_npfg.getRollSetpoint());
|
||||
const float can_run_factor(constrain(_npfg.canRun(_local_pos, _wind_valid), 0.f, 1.f));
|
||||
|
||||
// If the npfg was not running before, reset the user warning variables.
|
||||
hrt_abstime now{hrt_absolute_time()};
|
||||
|
||||
if ((now - _time_since_last_npfg_call) > 2_s) {
|
||||
// Warn the user when the scale is less than 90% for at least 2 seconds (disable in transition)
|
||||
|
||||
// If the npfg was not running before, reset the user warning variables.
|
||||
if ((now - _time_since_last_npfg_call) > ROLL_WARNING_TIMEOUT) {
|
||||
_need_report_npfg_uncertain_condition = true;
|
||||
_time_since_first_reduced_roll = 0U;
|
||||
}
|
||||
|
||||
// Warn the user when the scale is less than 90% for at least 2 seconds.
|
||||
if ((1.f - can_run_factor) < 0.1f) {
|
||||
if (_vehicle_status.in_transition_mode || can_run_factor > ROLL_WARNING_CAN_RUN_THRESHOLD || _landed) {
|
||||
// NPFG reports a good condition or we are in transition, reset the user warning variables.
|
||||
_need_report_npfg_uncertain_condition = true;
|
||||
_time_since_first_reduced_roll = 0U;
|
||||
|
||||
} else if (_need_report_npfg_uncertain_condition) {
|
||||
if (_time_since_first_reduced_roll == 0U) {
|
||||
_time_since_first_reduced_roll = hrt_absolute_time();
|
||||
_time_since_first_reduced_roll = now;
|
||||
}
|
||||
|
||||
if ((now - _time_since_first_reduced_roll) > 2_s) {
|
||||
if ((now - _time_since_first_reduced_roll) > ROLL_WARNING_TIMEOUT) {
|
||||
_need_report_npfg_uncertain_condition = false;
|
||||
events::send(events::ID("npfg_roll_command_uncertain"), events::Log::Warning,
|
||||
"Roll command reduced due to uncertain velocity/wind estimates!");
|
||||
|
||||
@@ -169,6 +169,13 @@ static constexpr float POST_TOUCHDOWN_CLAMP_TIME = 0.5f;
|
||||
// [m/s] maximum reference altitude rate threshhold
|
||||
static constexpr float MAX_ALT_REF_RATE_FOR_LEVEL_FLIGHT = 0.1f;
|
||||
|
||||
// [s] Timeout that has to pass in roll-constraining failsafe before warning is triggered
|
||||
static constexpr uint64_t ROLL_WARNING_TIMEOUT = 2_s;
|
||||
|
||||
// [-] Can-run threshold needed to trigger the roll-constraining failsafe warning
|
||||
static constexpr float ROLL_WARNING_CAN_RUN_THRESHOLD = 0.9f;
|
||||
|
||||
|
||||
class FixedwingPositionControl final : public ModuleBase<FixedwingPositionControl>, public ModuleParams,
|
||||
public px4::WorkItem
|
||||
{
|
||||
|
||||
@@ -157,10 +157,11 @@ void MagBiasEstimator::Run()
|
||||
bool updated = false;
|
||||
|
||||
for (int mag_index = 0; mag_index < MAX_SENSOR_COUNT; mag_index++) {
|
||||
int sensor_mag_updates = 0;
|
||||
sensor_mag_s sensor_mag;
|
||||
|
||||
while (_sensor_mag_subs[mag_index].update(&sensor_mag)) {
|
||||
|
||||
while ((sensor_mag_updates < sensor_mag_s::ORB_QUEUE_LENGTH) && _sensor_mag_subs[mag_index].update(&sensor_mag)) {
|
||||
sensor_mag_updates++;
|
||||
updated = true;
|
||||
|
||||
// apply existing mag calibration
|
||||
|
||||
@@ -783,17 +783,7 @@ void Navigator::run()
|
||||
_pos_sp_triplet_published_invalid_once = false;
|
||||
}
|
||||
|
||||
#if CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF
|
||||
|
||||
// If we are in VTOL takeoff, do not switch until it is finished.
|
||||
if (_navigation_mode == &_vtol_takeoff && !get_mission_result()->finished) {
|
||||
navigation_mode_new = &_vtol_takeoff;
|
||||
|
||||
} else
|
||||
#endif //CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF
|
||||
{
|
||||
navigation_mode_new = &_rtl;
|
||||
}
|
||||
navigation_mode_new = &_rtl;
|
||||
|
||||
break;
|
||||
|
||||
|
||||
@@ -231,9 +231,12 @@ void VehicleAcceleration::Run()
|
||||
}
|
||||
|
||||
// process all outstanding messages
|
||||
int sensor_sub_updates = 0;
|
||||
sensor_accel_s sensor_data;
|
||||
|
||||
while (_sensor_sub.update(&sensor_data)) {
|
||||
while ((sensor_sub_updates < sensor_accel_s::ORB_QUEUE_LENGTH) && _sensor_sub.update(&sensor_data)) {
|
||||
sensor_sub_updates++;
|
||||
|
||||
const Vector3f accel_raw{sensor_data.x, sensor_data.y, sensor_data.z};
|
||||
|
||||
if (accel_raw.isAllFinite()) {
|
||||
|
||||
@@ -163,9 +163,11 @@ void VehicleAirData::Run()
|
||||
}
|
||||
|
||||
if (_advertised[uorb_index]) {
|
||||
int sensor_sub_updates = 0;
|
||||
sensor_baro_s report;
|
||||
|
||||
while (_sensor_sub[uorb_index].update(&report)) {
|
||||
while ((sensor_sub_updates < sensor_baro_s::ORB_QUEUE_LENGTH) && _sensor_sub[uorb_index].update(&report)) {
|
||||
sensor_sub_updates++;
|
||||
|
||||
if (_calibration[uorb_index].device_id() != report.device_id) {
|
||||
_calibration[uorb_index].set_device_id(report.device_id);
|
||||
|
||||
@@ -822,9 +822,12 @@ void VehicleAngularVelocity::Run()
|
||||
|
||||
if (_fifo_available) {
|
||||
// process all outstanding fifo messages
|
||||
int sensor_sub_updates = 0;
|
||||
sensor_gyro_fifo_s sensor_fifo_data;
|
||||
|
||||
while (_sensor_gyro_fifo_sub.update(&sensor_fifo_data)) {
|
||||
while ((sensor_sub_updates < sensor_gyro_fifo_s::ORB_QUEUE_LENGTH) && _sensor_gyro_fifo_sub.update(&sensor_fifo_data)) {
|
||||
sensor_sub_updates++;
|
||||
|
||||
const float inverse_dt_s = 1e6f / sensor_fifo_data.dt;
|
||||
const int N = sensor_fifo_data.samples;
|
||||
static constexpr int FIFO_SIZE_MAX = sizeof(sensor_fifo_data.x) / sizeof(sensor_fifo_data.x[0]);
|
||||
@@ -863,9 +866,12 @@ void VehicleAngularVelocity::Run()
|
||||
|
||||
} else {
|
||||
// process all outstanding messages
|
||||
int sensor_sub_updates = 0;
|
||||
sensor_gyro_s sensor_data;
|
||||
|
||||
while (_sensor_sub.update(&sensor_data)) {
|
||||
while ((sensor_sub_updates < sensor_gyro_s::ORB_QUEUE_LENGTH) && _sensor_sub.update(&sensor_data)) {
|
||||
sensor_sub_updates++;
|
||||
|
||||
if (Vector3f(sensor_data.x, sensor_data.y, sensor_data.z).isAllFinite()) {
|
||||
|
||||
if (_timestamp_sample_last == 0 || (sensor_data.timestamp_sample <= _timestamp_sample_last)) {
|
||||
|
||||
@@ -194,7 +194,12 @@ void VehicleIMU::Run()
|
||||
// reset data gap monitor
|
||||
_data_gap = false;
|
||||
|
||||
while (_sensor_gyro_sub.updated() || _sensor_accel_sub.updated()) {
|
||||
int sensor_sub_updates = 0;
|
||||
|
||||
while ((_sensor_gyro_sub.updated() || _sensor_accel_sub.updated())
|
||||
&& (sensor_sub_updates < math::max(sensor_accel_s::ORB_QUEUE_LENGTH, sensor_gyro_s::ORB_QUEUE_LENGTH))) {
|
||||
sensor_sub_updates++;
|
||||
|
||||
bool updated = false;
|
||||
|
||||
bool consume_all_gyro = !_intervals_configured || _data_gap;
|
||||
@@ -222,11 +227,16 @@ void VehicleIMU::Run()
|
||||
|
||||
|
||||
// update accel until integrator ready and caught up to gyro
|
||||
int sensor_accel_sub_updates = 0;
|
||||
|
||||
while (_sensor_accel_sub.updated()
|
||||
&& (sensor_accel_sub_updates < sensor_accel_s::ORB_QUEUE_LENGTH)
|
||||
&& (!_accel_integrator.integral_ready() || !_intervals_configured || _data_gap
|
||||
|| (_accel_timestamp_sample_last < (_gyro_timestamp_sample_last - 0.5f * _accel_interval_us)))
|
||||
) {
|
||||
|
||||
sensor_accel_sub_updates++;
|
||||
|
||||
if (UpdateAccel()) {
|
||||
updated = true;
|
||||
}
|
||||
|
||||
@@ -461,9 +461,11 @@ void VehicleMagnetometer::Run()
|
||||
}
|
||||
|
||||
if (_advertised[uorb_index]) {
|
||||
int sensor_mag_updates = 0;
|
||||
sensor_mag_s report;
|
||||
|
||||
while (_sensor_sub[uorb_index].update(&report)) {
|
||||
while ((sensor_mag_updates < sensor_mag_s::ORB_QUEUE_LENGTH) && _sensor_sub[uorb_index].update(&report)) {
|
||||
sensor_mag_updates++;
|
||||
|
||||
if (_calibration[uorb_index].device_id() != report.device_id) {
|
||||
_calibration[uorb_index].set_device_id(report.device_id);
|
||||
|
||||
@@ -48,6 +48,7 @@
|
||||
* Fixed-wing forward actuators refers to puller/pusher (standard VTOL), or forward-tilt (tiltrotor VTOL).
|
||||
* Only active if demanded down pitch is below VT_PITCH_MIN.
|
||||
* Use VT_FWD_THRUST_SC to tune it.
|
||||
* Descend mode is treated as Landing too.
|
||||
*
|
||||
* Only active (if enabled) in Altitude, Position and Auto modes, not in Stabilized.
|
||||
*
|
||||
|
||||
@@ -444,16 +444,21 @@ float VtolType::pusher_assist()
|
||||
|
||||
}
|
||||
|
||||
// the vehicle is "landing" if it is in auto mode and the type is set to LAND, and
|
||||
// "descending" if it is in auto and climb rate controlled but not altitude controlled
|
||||
const bool vehicle_is_landing_or_descending = _v_control_mode->flag_control_auto_enabled
|
||||
&& ((_attc->get_pos_sp_triplet()->current.valid
|
||||
&& _attc->get_pos_sp_triplet()->current.type == position_setpoint_s::SETPOINT_TYPE_LAND) ||
|
||||
(_v_control_mode->flag_control_climb_rate_enabled && !_v_control_mode->flag_control_altitude_enabled));
|
||||
|
||||
// disable pusher assist depending on setting of forward_thrust_enable_mode:
|
||||
switch (_param_vt_fwd_thrust_en.get()) {
|
||||
case DISABLE: // disable in all modes
|
||||
return 0.0f;
|
||||
break;
|
||||
|
||||
case ENABLE_WITHOUT_LAND: // disable in land mode
|
||||
if (_attc->get_pos_sp_triplet()->current.valid
|
||||
&& _attc->get_pos_sp_triplet()->current.type == position_setpoint_s::SETPOINT_TYPE_LAND
|
||||
&& _v_control_mode->flag_control_auto_enabled) {
|
||||
case ENABLE_WITHOUT_LAND: // disable in land/descend mode
|
||||
if (vehicle_is_landing_or_descending) {
|
||||
return 0.0f;
|
||||
}
|
||||
|
||||
@@ -473,10 +478,8 @@ float VtolType::pusher_assist()
|
||||
|
||||
break;
|
||||
|
||||
case ENABLE_ABOVE_MPC_LAND_ALT1_WITHOUT_LAND: // disable if below MPC_LAND_ALT1 or in land mode
|
||||
if ((_attc->get_pos_sp_triplet()->current.valid
|
||||
&& _attc->get_pos_sp_triplet()->current.type == position_setpoint_s::SETPOINT_TYPE_LAND
|
||||
&& _v_control_mode->flag_control_auto_enabled) ||
|
||||
case ENABLE_ABOVE_MPC_LAND_ALT1_WITHOUT_LAND: // disable if below MPC_LAND_ALT1 or in land/descend mode
|
||||
if (vehicle_is_landing_or_descending ||
|
||||
(!PX4_ISFINITE(dist_to_ground) || (dist_to_ground < _param_mpc_land_alt1.get()))) {
|
||||
return 0.0f;
|
||||
}
|
||||
@@ -484,9 +487,7 @@ float VtolType::pusher_assist()
|
||||
break;
|
||||
|
||||
case ENABLE_ABOVE_MPC_LAND_ALT2_WITHOUT_LAND: // disable if below MPC_LAND_ALT2 or in land mode
|
||||
if ((_attc->get_pos_sp_triplet()->current.valid
|
||||
&& _attc->get_pos_sp_triplet()->current.type == position_setpoint_s::SETPOINT_TYPE_LAND
|
||||
&& _v_control_mode->flag_control_auto_enabled) ||
|
||||
if (vehicle_is_landing_or_descending ||
|
||||
(!PX4_ISFINITE(dist_to_ground) || (dist_to_ground < _param_mpc_land_alt2.get()))) {
|
||||
return 0.0f;
|
||||
}
|
||||
@@ -494,10 +495,9 @@ float VtolType::pusher_assist()
|
||||
break;
|
||||
}
|
||||
|
||||
// if the thrust scale param is zero or the drone is not in some position or altitude control mode,
|
||||
// if the thrust scale param is zero or the drone is not in a climb rate controlled mode,
|
||||
// then the pusher-for-pitch strategy is disabled and we can return
|
||||
if (_param_vt_fwd_thrust_sc.get() < FLT_EPSILON || !(_v_control_mode->flag_control_position_enabled
|
||||
|| _v_control_mode->flag_control_altitude_enabled)) {
|
||||
if (_param_vt_fwd_thrust_sc.get() < FLT_EPSILON || !(_v_control_mode->flag_control_climb_rate_enabled)) {
|
||||
return 0.0f;
|
||||
}
|
||||
|
||||
|
||||
@@ -201,7 +201,7 @@ public:
|
||||
struct ipv4cfg_s ipcfg;
|
||||
int rv = ipcfg_read(netdev, (FAR struct ipcfg_s *) &ipcfg, AF_INET);
|
||||
|
||||
if (rv == -EINVAL ||
|
||||
if (rv == -EINVAL || rv == -ENOENT ||
|
||||
(rv == OK && (ipcfg.proto > IPv4PROTO_FALLBACK || ipcfg.ipaddr == 0xffffffff))) {
|
||||
// Build a default
|
||||
ipcfg.ipaddr = HTONL(DEFAULT_IP);
|
||||
|
||||
Reference in New Issue
Block a user