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changed to AnalogMeasurement in both uORB and uavcan

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This commit is contained in:
Jacob Dahl
2020-08-18 11:37:24 -08:00
parent 8fd1b42000
commit d409860ff1
10 changed files with 59 additions and 94 deletions
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src/drivers/uavcannode/UavcanNode.cpp
+19 -45
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@@ -81,7 +81,7 @@ UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &sys
_air_data_static_temperature_publisher(_node),
_raw_air_data_publisher(_node),
_range_sensor_measurement(_node),
_adc_report_publisher(_node),
_analog_measurement_publisher(_node),
_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle time")),
_interval_perf(perf_alloc(PC_INTERVAL, MODULE_NAME": cycle interval")),
_reset_timer(_node)
@@ -331,7 +331,7 @@ void UavcanNode::Run()
PX4_ERR("node spin error %i", spin_res);
}
send_adc_measurements();
send_analog_measurements();
send_battery_info();
send_raw_air_data();
send_static_pressure();
@@ -352,7 +352,7 @@ void UavcanNode::send_battery_info()
{
// battery_status -> uavcan::equipment::power::BatteryInfo
if (_battery_status_sub.updated()) {
battery_status_s battery;
battery_status_s battery{};
if (_battery_status_sub.copy(&battery)) {
uavcan::equipment::power::BatteryInfo battery_info{};
@@ -385,7 +385,7 @@ void UavcanNode::send_raw_air_data()
{
// differential_pressure -> uavcan::equipment::air_data::RawAirData
if (_diff_pressure_sub.updated()) {
differential_pressure_s diff_press;
differential_pressure_s diff_press{};
if (_diff_pressure_sub.copy(&diff_press)) {
@@ -407,7 +407,7 @@ void UavcanNode::send_range_sensor_measurement()
{
// distance_sensor[] -> uavcan::equipment::range_sensor::Measurement
for (int i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) {
distance_sensor_s dist;
distance_sensor_s dist{};
if (_distance_sensor_sub[i].update(&dist)) {
uavcan::equipment::range_sensor::Measurement range_sensor{};
@@ -459,7 +459,7 @@ void UavcanNode::send_static_pressure()
{
// sensor_baro -> uavcan::equipment::air_data::StaticTemperature
if (_sensor_baro_sub.updated()) {
sensor_baro_s baro;
sensor_baro_s baro{};
if (_sensor_baro_sub.copy(&baro)) {
uavcan::equipment::air_data::StaticPressure static_pressure{};
@@ -480,7 +480,7 @@ void UavcanNode::send_magnetic_field_strength2()
{
// sensor_mag -> uavcan::equipment::ahrs::MagneticFieldStrength2
if (_sensor_mag_sub.updated()) {
sensor_mag_s mag;
sensor_mag_s mag{};
if (_sensor_mag_sub.copy(&mag)) {
uavcan::equipment::ahrs::MagneticFieldStrength2 magnetic_field{};
@@ -497,7 +497,7 @@ void UavcanNode::send_gnss_fix2()
{
// vehicle_gps_position -> uavcan::equipment::gnss::Fix2
if (_vehicle_gps_position_sub.updated()) {
vehicle_gps_position_s gps;
vehicle_gps_position_s gps{};
if (_vehicle_gps_position_sub.copy(&gps)) {
uavcan::equipment::gnss::Fix2 fix2{};
@@ -531,50 +531,24 @@ void UavcanNode::send_gnss_fix2()
}
}
void UavcanNode::send_adc_measurements()
void UavcanNode::send_analog_measurements()
{
// vehicle_gps_position -> uavcan::equipment::gnss::Fix2
if (_adc_report_sub.updated()) {
adc_report_s adc_report;
if (_analog_report_sub.updated()) {
analog_measurement_s measurement{};
if (_adc_report_sub.copy(&adc_report)) {
if (_analog_report_sub.copy(&measurement)) {
// We could probably convince people an ADC uavcan data type
// would be useful to have in tree...
com::volansi::equipment::adc::Report report{};
com::volansi::equipment::adc::AnalogMeasurement report{};
int32_t adc1_units = 0;
int32_t adc2_units = 0;
int32_t adc3_units = 0;
int32_t adc4_units = 0;
(void)param_get(param_find("ADC1_UNIT_TYPE"), &adc1_units);
(void)param_get(param_find("ADC2_UNIT_TYPE"), &adc2_units);
(void)param_get(param_find("ADC3_UNIT_TYPE"), &adc3_units);
(void)param_get(param_find("ADC4_UNIT_TYPE"), &adc4_units);
report.unit_type[0] = (unsigned)adc1_units;
report.unit_type[1] = (unsigned)adc2_units;
report.unit_type[2] = (unsigned)adc3_units;
report.unit_type[3] = (unsigned)adc4_units;
if (adc1_units != 0) {
report.values[0] = adc_report.raw_data[0];
for (size_t i = 0; i < sizeof(measurement.values)/sizeof(values[0])) {
if (measurement.unit_type[i]) {
report.unit_type[i] = measurement.unit_type[i];
report.values[i] = measurement.values[i];
}
}
if (adc2_units != 0) {
report.values[1] = adc_report.raw_data[1];
}
if (adc3_units != 0) {
report.values[2] = adc_report.raw_data[2];
}
if (adc4_units != 0) {
report.values[3] = adc_report.raw_data[3];
}
_adc_report_publisher.broadcast(report);
_analog_measurement_publisher.broadcast(report);
}
}
}