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UAVCAN differential pressure sensor support
* added airspeed handling (differential pressure) to uavcan and uavcannode Co-authored-by: Jacob Crabill <jacob@flyvoly.com>
This commit is contained in:
Jacob Dahl
co-authored by
Jacob Crabill
Jacob Crabill
parent
a67847aef1
commit
d682ddb510
@@ -124,11 +124,12 @@ px4_add_module(
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# Sensors
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sensors/sensor_bridge.cpp
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sensors/differential_pressure.cpp
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sensors/baro.cpp
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sensors/battery.cpp
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sensors/flow.cpp
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sensors/gnss.cpp
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sensors/mag.cpp
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sensors/baro.cpp
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sensors/flow.cpp
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sensors/battery.cpp
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DEPENDS
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px4_uavcan_dsdlc
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@@ -0,0 +1,113 @@
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/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @author Jacob Crabill <jacob@flyvoly.com>
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*/
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#include "differential_pressure.hpp"
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#include <drivers/drv_airspeed.h>
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#include <drivers/drv_hrt.h>
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#include <lib/ecl/geo/geo.h>
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#include <parameters/param.h>
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#include <systemlib/err.h>
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const char *const UavcanDifferentialPressureBridge::NAME = "differential_pressure";
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UavcanDifferentialPressureBridge::UavcanDifferentialPressureBridge(uavcan::INode &node) :
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UavcanCDevSensorBridgeBase("uavcan_differential_pressure", "/dev/uavcan/differential_pressure",
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AIRSPEED_BASE_DEVICE_PATH,
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ORB_ID(differential_pressure)),
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_sub_air(node)
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{
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}
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int UavcanDifferentialPressureBridge::init()
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{
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int res = device::CDev::init();
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if (res < 0) {
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return res;
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}
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// Initialize the calibration offset
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param_get(param_find("SENS_DPRES_OFF"), &_diff_pres_offset);
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res = _sub_air.start(AirCbBinder(this, &UavcanDifferentialPressureBridge::air_sub_cb));
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if (res < 0) {
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DEVICE_LOG("failed to start uavcan sub: %d", res);
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return res;
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}
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return 0;
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}
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int UavcanDifferentialPressureBridge::ioctl(struct file *filp, int cmd, unsigned long arg)
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{
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switch (cmd) {
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case AIRSPEEDIOCSSCALE: {
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struct airspeed_scale *s = (struct airspeed_scale *)arg;
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_diff_pres_offset = s->offset_pa;
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return PX4_OK;
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}
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default: {
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return CDev::ioctl(filp, cmd, arg);
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}
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}
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}
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void UavcanDifferentialPressureBridge::air_sub_cb(const
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uavcan::ReceivedDataStructure<uavcan::equipment::air_data::RawAirData>
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&msg)
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{
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_device_id.devid_s.devtype = DRV_DIFF_PRESS_DEVTYPE_UAVCAN;
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_device_id.devid_s.address = msg.getSrcNodeID().get() & 0xFF;
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float diff_press_pa = msg.differential_pressure;
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float temperature_c = msg.static_air_temperature + CONSTANTS_ABSOLUTE_NULL_CELSIUS;
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differential_pressure_s report = {
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.timestamp = hrt_absolute_time(),
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.error_count = 0,
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.differential_pressure_raw_pa = diff_press_pa - _diff_pres_offset,
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.differential_pressure_filtered_pa = _filter.apply(diff_press_pa) - _diff_pres_offset, /// TODO: Create filter
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.temperature = temperature_c,
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.device_id = _device_id.devid
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};
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publish(msg.getSrcNodeID().get(), &report);
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}
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@@ -0,0 +1,74 @@
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/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @author Jacob Crabill <jacob@flyvoly.com>
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*/
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#pragma once
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#include <uORB/uORB.h>
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#include <uORB/topics/differential_pressure.h>
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#include <mathlib/math/filter/LowPassFilter2p.hpp>
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#include "sensor_bridge.hpp"
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#include <uavcan/equipment/air_data/RawAirData.hpp>
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class UavcanDifferentialPressureBridge : public UavcanCDevSensorBridgeBase
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{
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public:
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static const char *const NAME;
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UavcanDifferentialPressureBridge(uavcan::INode &node);
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const char *get_name() const override { return NAME; }
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int init() override;
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private:
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float _diff_pres_offset {0.0f};
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math::LowPassFilter2p _filter{10.f, 1.1f}; /// Adapted from MS5525 driver
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int ioctl(struct file *filp, int cmd, unsigned long arg) override;
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void air_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::air_data::RawAirData> &msg);
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typedef uavcan::MethodBinder < UavcanDifferentialPressureBridge *,
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void (UavcanDifferentialPressureBridge::*)
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(const uavcan::ReceivedDataStructure<uavcan::equipment::air_data::RawAirData> &) >
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AirCbBinder;
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uavcan::Subscriber<uavcan::equipment::air_data::RawAirData, AirCbBinder> _sub_air;
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};
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@@ -38,11 +38,12 @@
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#include "sensor_bridge.hpp"
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#include <cassert>
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#include "gnss.hpp"
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#include "mag.hpp"
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#include "differential_pressure.hpp"
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#include "baro.hpp"
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#include "flow.hpp"
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#include "battery.hpp"
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#include "gnss.hpp"
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#include "flow.hpp"
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#include "mag.hpp"
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/*
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* IUavcanSensorBridge
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@@ -54,6 +55,7 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge
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list.add(new UavcanGnssBridge(node));
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list.add(new UavcanFlowBridge(node));
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list.add(new UavcanBatteryBridge(node));
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list.add(new UavcanDifferentialPressureBridge(node));
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}
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/*
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