create temperature_compensation module

- this is a new module for temperature compensation that consolidates the functionality previously handled in the sensors module (calculating runtime thermal corrections) and the events module (online thermal calibration) - by collecting this functionality into a single module we can optionally disable it on systems where it's not used and save some flash (if disabled at build time) or memory (disabled at run time)
2026-06-28 05:20:35 +08:00 · 2020-01-20 21:42:42 -05:00
parent dedb4e8267
commit dc05ceaad2
87 changed files with 978 additions and 739 deletions
@@ -0,0 +1,139 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016-2020 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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <drivers/drv_hrt.h>
+#include <lib/mathlib/mathlib.h>
+#include <lib/parameters/param.h>
+#include <lib/perf/perf_counter.h>
+#include <px4_platform_common/atomic.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/time.h>
+#include <uORB/Publication.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/parameter_update.h>
+#include <uORB/topics/sensor_accel.h>
+#include <uORB/topics/sensor_baro.h>
+#include <uORB/topics/sensor_correction.h>
+#include <uORB/topics/sensor_gyro.h>
+#include <uORB/topics/vehicle_command.h>
+#include <uORB/topics/vehicle_command_ack.h>
+
+#include "TemperatureCompensation.h"
+
+namespace temperature_compensation
+{
+
+class TemperatureCompensationModule : public ModuleBase<TemperatureCompensationModule>, public ModuleParams,
+	public px4::ScheduledWorkItem
+{
+public:
+	TemperatureCompensationModule();
+	~TemperatureCompensationModule() override;
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static TemperatureCompensationModule *instantiate(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	void Run() override;
+
+	/** @see ModuleBase::print_status() */
+	int print_status() override;
+
+	/**
+	 * Initializes scheduling on work queue.
+	 */
+	bool init();
+
+private:
+
+	void accelPoll();
+	void gyroPoll();
+	void baroPoll();
+
+	/**
+	 * call this whenever parameters got updated. Make sure to have initialize_sensors() called at least
+	 * once before calling this.
+	 */
+	void parameters_update();
+
+	uORB::Subscription _accel_subs[ACCEL_COUNT_MAX] {
+		{ORB_ID(sensor_accel), 0},
+		{ORB_ID(sensor_accel), 1},
+		{ORB_ID(sensor_accel), 2}
+	};
+
+	uORB::Subscription _gyro_subs[GYRO_COUNT_MAX] {
+		{ORB_ID(sensor_gyro), 0},
+		{ORB_ID(sensor_gyro), 1},
+		{ORB_ID(sensor_gyro), 2}
+	};
+
+	uORB::Subscription _baro_subs[BARO_COUNT_MAX] {
+		{ORB_ID(sensor_baro), 0},
+		{ORB_ID(sensor_baro), 1},
+		{ORB_ID(sensor_baro), 2}
+	};
+
+	uORB::Subscription _params_sub{ORB_ID(parameter_update)};
+	uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)};
+
+	perf_counter_t _loop_perf;			/**< loop performance counter */
+
+	orb_advert_t _mavlink_log_pub{nullptr};
+
+	/* sensor thermal compensation */
+	TemperatureCompensation _temperature_compensation;
+
+	sensor_correction_s _corrections{}; /**< struct containing the sensor corrections to be published to the uORB*/
+	uORB::Publication<sensor_correction_s> _sensor_correction_pub{ORB_ID(sensor_correction)};
+
+	bool _corrections_changed{true};
+};
+
+} // namespace temperature_compensation