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AttPosEKF: Removed SENSOR_COMBINED_SUB macros

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This commit is contained in:
Johan Jansen
2015-02-12 13:00:20 +01:00
parent 76901c6414
commit 755abccb3e
1 changed files with 2 additions and 124 deletions
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src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+2 -124
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@@ -52,17 +52,13 @@
#include <time.h>
#include <float.h>
#define SENSOR_COMBINED_SUB
#include <drivers/drv_hrt.h>
#include <drivers/drv_gyro.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_baro.h>
#include <drivers/drv_range_finder.h>
#ifdef SENSOR_COMBINED_SUB
#include <uORB/topics/sensor_combined.h>
#endif
#include <arch/board/board.h>
#include <uORB/uORB.h>
#include <uORB/topics/airspeed.h>
@@ -177,13 +173,8 @@ private:
bool _task_should_exit; /**< if true, sensor task should exit */
bool _task_running; /**< if true, task is running in its mainloop */
int _estimator_task; /**< task handle for sensor task */
#ifndef SENSOR_COMBINED_SUB
int _gyro_sub; /**< gyro sensor subscription */
int _accel_sub; /**< accel sensor subscription */
int _mag_sub; /**< mag sensor subscription */
#else
int _sensor_combined_sub;
#endif
int _distance_sub; /**< distance measurement */
int _airspeed_sub; /**< airspeed subscription */
int _baro_sub; /**< barometer subscription */
@@ -217,9 +208,7 @@ private:
struct accel_scale _accel_offsets[3];
struct mag_scale _mag_offsets[3];
#ifdef SENSOR_COMBINED_SUB
struct sensor_combined_s _sensor_combined;
#endif
struct map_projection_reference_s _pos_ref;
@@ -405,13 +394,7 @@ AttitudePositionEstimatorEKF::AttitudePositionEstimatorEKF() :
_estimator_task(-1),
/* subscriptions */
#ifndef SENSOR_COMBINED_SUB
_gyro_sub(-1),
_accel_sub(-1),
_mag_sub(-1),
#else
_sensor_combined_sub(-1),
#endif
_distance_sub(-1),
_airspeed_sub(-1),
_baro_sub(-1),
@@ -446,9 +429,7 @@ AttitudePositionEstimatorEKF::AttitudePositionEstimatorEKF() :
_accel_offsets({}),
_mag_offsets({}),
#ifdef SENSOR_COMBINED_SUB
_sensor_combined{},
#endif
_pos_ref{},
_baro_ref(0.0f),
@@ -802,20 +783,9 @@ void AttitudePositionEstimatorEKF::task_main()
/* rate limit vehicle status updates to 5Hz */
orb_set_interval(_vstatus_sub, 200);
#ifndef SENSOR_COMBINED_SUB
_gyro_sub = orb_subscribe(ORB_ID(sensor_gyro));
_accel_sub = orb_subscribe(ORB_ID(sensor_accel));
_mag_sub = orb_subscribe(ORB_ID(sensor_mag));
/* rate limit gyro updates to 50 Hz */
/* XXX remove this!, BUT increase the data buffer size! */
orb_set_interval(_gyro_sub, 4);
#else
_sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined));
/* XXX remove this!, BUT increase the data buffer size! */
orb_set_interval(_sensor_combined_sub, 9);
#endif
/* sets also parameters in the EKF object */
parameters_update();
@@ -826,13 +796,9 @@ void AttitudePositionEstimatorEKF::task_main()
/* Setup of loop */
fds[0].fd = _params_sub;
fds[0].events = POLLIN;
#ifndef SENSOR_COMBINED_SUB
fds[1].fd = _gyro_sub;
fds[1].events = POLLIN;
#else
fds[1].fd = _sensor_combined_sub;
fds[1].events = POLLIN;
#endif
_gps.vel_n_m_s = 0.0f;
_gps.vel_e_m_s = 0.0f;
@@ -882,14 +848,8 @@ void AttitudePositionEstimatorEKF::task_main()
/* system is in HIL now, wait for measurements to come in one last round */
usleep(60000);
#ifndef SENSOR_COMBINED_SUB
orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &_gyro);
orb_copy(ORB_ID(sensor_accel), _accel_sub, &_accel);
orb_copy(ORB_ID(sensor_mag), _mag_sub, &_mag);
#else
/* now read all sensor publications to ensure all real sensor data is purged */
orb_copy(ORB_ID(sensor_combined), _sensor_combined_sub, &_sensor_combined);
#endif
/* set sensors to de-initialized state */
_gyro_valid = false;
@@ -1439,66 +1399,6 @@ void AttitudePositionEstimatorEKF::pollData()
bool accel_updated = false;
//Update Gyro and Accelerometer
#ifndef SENSOR_COMBINED_SUB
orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &_gyro);
orb_check(_accel_sub, &accel_updated);
if (accel_updated) {
orb_copy(ORB_ID(sensor_accel), _accel_sub, &_accel);
}
_last_sensor_timestamp = _gyro.timestamp;
IMUmsec = _gyro.timestamp / 1e3;
IMUusec = _gyro.timestamp;
float deltaT = (_gyro.timestamp - _last_run) / 1e6f;
_last_run = _gyro.timestamp;
/* guard against too large deltaT's */
if (!isfinite(deltaT) || deltaT > 1.0f || deltaT < 0.000001f) {
deltaT = 0.01f;
}
// Always store data, independent of init status
/* fill in last data set */
_ekf->dtIMU = deltaT;
if (isfinite(_gyro.x) &&
isfinite(_gyro.y) &&
isfinite(_gyro.z)) {
_ekf->angRate.x = _gyro.x;
_ekf->angRate.y = _gyro.y;
_ekf->angRate.z = _gyro.z;
if (!_gyro_valid) {
lastAngRate = _ekf->angRate;
}
_gyro_valid = true;
}
if (accel_updated) {
_ekf->accel.x = _accel.x;
_ekf->accel.y = _accel.y;
_ekf->accel.z = _accel.z;
if (!_accel_valid) {
lastAccel = _ekf->accel;
}
_accel_valid = true;
}
_ekf->dAngIMU = 0.5f * (angRate + lastAngRate) * dtIMU;
_ekf->lastAngRate = angRate;
_ekf->dVelIMU = 0.5f * (accel + lastAccel) * dtIMU;
_ekf->lastAccel = accel;
#else
orb_copy(ORB_ID(sensor_combined), _sensor_combined_sub, &_sensor_combined);
static hrt_abstime last_accel = 0;
@@ -1611,8 +1511,6 @@ void AttitudePositionEstimatorEKF::pollData()
last_mag = _sensor_combined.magnetometer_timestamp;
#endif
//warnx("dang: %8.4f %8.4f dvel: %8.4f %8.4f", _ekf->dAngIMU.x, _ekf->dAngIMU.z, _ekf->dVelIMU.x, _ekf->dVelIMU.z);
//Update AirSpeed
@@ -1748,31 +1646,12 @@ void AttitudePositionEstimatorEKF::pollData()
}
//Update Magnetometer
#ifndef SENSOR_COMBINED_SUB
orb_check(_mag_sub, &_newDataMag);
#endif
if (_newDataMag) {
_mag_valid = true;
perf_count(_perf_mag);
#ifndef SENSOR_COMBINED_SUB
orb_copy(ORB_ID(sensor_mag), _mag_sub, &_mag);
// XXX we compensate the offsets upfront - should be close to zero.
// 0.001f
_ekf->magData.x = _mag.x;
_ekf->magBias.x = 0.000001f; // _mag_offsets.x_offset
_ekf->magData.y = _mag.y;
_ekf->magBias.y = 0.000001f; // _mag_offsets.y_offset
_ekf->magData.z = _mag.z;
_ekf->magBias.z = 0.000001f; // _mag_offsets.y_offset
#else
int last_mag_main = _mag_main;
// XXX we compensate the offsets upfront - should be close to zero.
@@ -1803,7 +1682,6 @@ void AttitudePositionEstimatorEKF::pollData()
if (last_mag_main != _mag_main) {
mavlink_and_console_log_emergency(_mavlink_fd, "MAG FAILED! Switched from #%d to %d", last_mag_main, _mag_main);
}
#endif
}
//Update range data