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fake_imu (formally fake_gyro) updates for testing gyro filtering
- fake_imu now publishes sine sweeps over 10 seconds - accel is also published so that fake IMU can be selected when the only option
This commit is contained in:
Daniel Agar
GitHub
parent
39c90c8fc9
commit
c3884b5bc1
@ -32,14 +32,15 @@
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############################################################################
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px4_add_module(
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MODULE modules__fake_gyro
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MAIN fake_gyro
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MODULE modules__fake_imu
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MAIN fake_imu
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COMPILE_FLAGS
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${MAX_CUSTOM_OPT_LEVEL}
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SRCS
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FakeGyro.cpp
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FakeGyro.hpp
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FakeImu.cpp
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FakeImu.hpp
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DEPENDS
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drivers_accelerometer
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drivers_gyroscope
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px4_work_queue
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)
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@ -31,25 +31,32 @@
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*
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****************************************************************************/
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#include "FakeGyro.hpp"
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#include "FakeImu.hpp"
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using namespace time_literals;
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FakeGyro::FakeGyro() :
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FakeImu::FakeImu() :
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ModuleParams(nullptr),
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ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
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_px4_gyro(1310988) // 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
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_px4_accel(1310988), // 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
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_px4_gyro(1310988) // 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
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{
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_sensor_interval_us = roundf(1.e6f / _px4_gyro.get_max_rate_hz());
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PX4_INFO("Rate %.3f, Interval: %d us", (double)_px4_gyro.get_max_rate_hz(), _sensor_interval_us);
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_px4_accel.set_range(2000.f); // don't care
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_px4_gyro.set_scale(math::radians(2000.f) / static_cast<float>(INT16_MAX - 1)); // 2000 degrees/second max
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}
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bool FakeGyro::init()
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bool FakeImu::init()
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{
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ScheduleOnInterval(SENSOR_RATE, SENSOR_RATE);
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ScheduleOnInterval(_sensor_interval_us);
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return true;
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}
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void FakeGyro::Run()
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void FakeImu::Run()
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{
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if (should_exit()) {
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ScheduleClear();
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@ -59,29 +66,60 @@ void FakeGyro::Run()
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sensor_gyro_fifo_s gyro{};
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gyro.timestamp_sample = hrt_absolute_time();
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gyro.samples = GYRO_RATE / (1e6f / SENSOR_RATE);
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gyro.dt = 1e6f / GYRO_RATE; // 8 kHz fake gyro;
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gyro.samples = roundf(IMU_RATE_HZ / (1e6 / _sensor_interval_us));
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gyro.dt = 1e6 / IMU_RATE_HZ;
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const float dt_s = gyro.dt * 1e-6f;
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const float x_freq = 15.f; // 15,0 Hz X frequency
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const float y_freq = 63.5f; // 63.5 Hz Y frequency
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const float z_freq = 135.f; // 135.0 Hz Z frequency
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const double dt_s = 1 / IMU_RATE_HZ;
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const double x_f0 = 0.0; // 0 Hz X frequency start
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const double x_f1 = 10.0; // 10 Hz X frequency stop
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const double y_f0 = 0.0; // 10 Hz Y frequency start
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const double y_f1 = 100.0; // 1000 Hz Y frequency stop
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const double z_f0 = 0.0; // 100 Hz Z frequency start
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const double z_f1 = 1000.0; // 1000 Hz Z frequency stop
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// amplitude
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static constexpr double A = (INT16_MAX - 1);
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if (_time_start_us == 0) {
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_time_start_us = gyro.timestamp_sample;
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}
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// 10 second sweep
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const double T = 10.0;
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const double timestamp_sample_s = static_cast<double>(gyro.timestamp_sample - _time_start_us) / 1e6;
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for (int n = 0; n < gyro.samples; n++) {
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_time += dt_s;
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const float k = 2.f * M_PI_F * _time;
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// timestamp_sample corresponds to last sample
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const double t = timestamp_sample_s - (gyro.samples - n - 1) * dt_s;
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gyro.x[n] = (INT16_MAX - 1) * sinf(k * x_freq);
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gyro.y[n] = (INT16_MAX - 1) / 2 * sinf(k * y_freq);
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gyro.z[n] = (INT16_MAX - 1) * cosf(k * z_freq);
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// linear-frequency chirp, see https://en.wikipedia.org/wiki/Chirp
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const double x_F = x_f0 + (x_f1 - x_f0) * t / (2 * T);
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const double y_F = y_f0 + (y_f1 - y_f0) * t / (2 * T);
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const double z_F = z_f0 + (z_f1 - z_f0) * t / (2 * T);
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gyro.x[n] = roundf(A * sin(2 * M_PI * x_F * t));
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gyro.y[n] = roundf(A * sin(2 * M_PI * y_F * t));
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gyro.z[n] = roundf(A * sin(2 * M_PI * z_F * t));
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if (n == 0) {
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float x_freq = (x_f1 - x_f0) * (t / T) + x_f0;
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float y_freq = (y_f1 - y_f0) * (t / T) + y_f0;
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float z_freq = (z_f1 - z_f0) * (t / T) + z_f0;
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_px4_accel.update(gyro.timestamp_sample, x_freq, y_freq, z_freq);
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}
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}
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_px4_gyro.updateFIFO(gyro);
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}
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int FakeGyro::task_spawn(int argc, char *argv[])
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int FakeImu::task_spawn(int argc, char *argv[])
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{
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FakeGyro *instance = new FakeGyro();
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FakeImu *instance = new FakeImu();
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if (instance) {
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_object.store(instance);
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@ -102,12 +140,12 @@ int FakeGyro::task_spawn(int argc, char *argv[])
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return PX4_ERROR;
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}
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int FakeGyro::custom_command(int argc, char *argv[])
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int FakeImu::custom_command(int argc, char *argv[])
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{
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return print_usage("unknown command");
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}
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int FakeGyro::print_usage(const char *reason)
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int FakeImu::print_usage(const char *reason)
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{
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if (reason) {
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PX4_WARN("%s\n", reason);
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@ -119,13 +157,13 @@ int FakeGyro::print_usage(const char *reason)
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)DESCR_STR");
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PRINT_MODULE_USAGE_NAME("fake_gyro", "driver");
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PRINT_MODULE_USAGE_NAME("fake_imu", "driver");
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PRINT_MODULE_USAGE_COMMAND("start");
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PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
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return 0;
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}
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extern "C" __EXPORT int fake_gyro_main(int argc, char *argv[])
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extern "C" __EXPORT int fake_imu_main(int argc, char *argv[])
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{
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return FakeGyro::main(argc, argv);
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return FakeImu::main(argc, argv);
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}
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@ -38,16 +38,17 @@
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#include <px4_platform_common/module_params.h>
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#include <px4_platform_common/posix.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
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#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
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#include <uORB/PublicationMulti.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/sensor_gyro_fifo.h>
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class FakeGyro : public ModuleBase<FakeGyro>, public ModuleParams, public px4::ScheduledWorkItem
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class FakeImu : public ModuleBase<FakeImu>, public ModuleParams, public px4::ScheduledWorkItem
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{
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public:
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FakeGyro();
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~FakeGyro() override = default;
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FakeImu();
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~FakeImu() override = default;
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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@ -61,12 +62,14 @@ public:
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bool init();
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private:
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static constexpr uint32_t SENSOR_RATE = 1250;
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static constexpr float GYRO_RATE = 8000;
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static constexpr double IMU_RATE_HZ = 8000;
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void Run() override;
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PX4Accelerometer _px4_accel;
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PX4Gyroscope _px4_gyro;
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float _time{0.f};
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hrt_abstime _time_start_us{0};
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uint32_t _sensor_interval_us{1250};
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};
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