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Lorenz Meier
2014-07-15 22:07:03 +02:00
parent 79aa600d29 619433d369
commit e696ed5509
554 changed files with 17667 additions and 122452 deletions
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src/modules/sensors/sensors.cpp
+64 -25
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@@ -133,7 +133,7 @@
#endif
#define BATT_V_LOWPASS 0.001f
#define BATT_V_IGNORE_THRESHOLD 3.5f
#define BATT_V_IGNORE_THRESHOLD 4.8f
/**
* HACK - true temperature is much less than indicated temperature in baro,
@@ -229,7 +229,7 @@ private:
math::Matrix<3, 3> _board_rotation; /**< rotation matrix for the orientation that the board is mounted */
math::Matrix<3, 3> _external_mag_rotation; /**< rotation matrix for the orientation that an external mag is mounted */
bool _mag_is_external; /**< true if the active mag is on an external board */
uint64_t _battery_discharged; /**< battery discharged current in mA*ms */
hrt_abstime _battery_current_timestamp; /**< timestamp of last battery current reading */
@@ -248,10 +248,12 @@ private:
float accel_offset[3];
float accel_scale[3];
float diff_pres_offset_pa;
float diff_pres_analog_enabled;
float diff_pres_analog_scale;
int board_rotation;
int external_mag_rotation;
float board_offset[3];
int rc_map_roll;
int rc_map_pitch;
@@ -264,6 +266,7 @@ private:
int rc_map_posctl_sw;
int rc_map_loiter_sw;
int rc_map_acro_sw;
int rc_map_offboard_sw;
int rc_map_flaps;
@@ -280,12 +283,14 @@ private:
float rc_return_th;
float rc_loiter_th;
float rc_acro_th;
float rc_offboard_th;
bool rc_assist_inv;
bool rc_auto_inv;
bool rc_posctl_inv;
bool rc_return_inv;
bool rc_loiter_inv;
bool rc_acro_inv;
bool rc_offboard_inv;
float battery_voltage_scaling;
float battery_current_scaling;
@@ -306,7 +311,7 @@ private:
param_t mag_offset[3];
param_t mag_scale[3];
param_t diff_pres_offset_pa;
param_t diff_pres_analog_enabled;
param_t diff_pres_analog_scale;
param_t rc_map_roll;
param_t rc_map_pitch;
@@ -319,6 +324,7 @@ private:
param_t rc_map_posctl_sw;
param_t rc_map_loiter_sw;
param_t rc_map_acro_sw;
param_t rc_map_offboard_sw;
param_t rc_map_flaps;
@@ -335,12 +341,15 @@ private:
param_t rc_return_th;
param_t rc_loiter_th;
param_t rc_acro_th;
param_t rc_offboard_th;
param_t battery_voltage_scaling;
param_t battery_current_scaling;
param_t board_rotation;
param_t external_mag_rotation;
param_t board_offset[3];
} _parameter_handles; /**< handles for interesting parameters */
@@ -492,6 +501,7 @@ Sensors::Sensors() :
_battery_current_timestamp(0)
{
memset(&_rc, 0, sizeof(_rc));
memset(&_diff_pres, 0, sizeof(_diff_pres));
/* basic r/c parameters */
for (unsigned i = 0; i < _rc_max_chan_count; i++) {
@@ -536,6 +546,7 @@ Sensors::Sensors() :
_parameter_handles.rc_map_posctl_sw = param_find("RC_MAP_POSCTL_SW");
_parameter_handles.rc_map_loiter_sw = param_find("RC_MAP_LOITER_SW");
_parameter_handles.rc_map_acro_sw = param_find("RC_MAP_ACRO_SW");
_parameter_handles.rc_map_offboard_sw = param_find("RC_MAP_OFFB_SW");
_parameter_handles.rc_map_aux1 = param_find("RC_MAP_AUX1");
_parameter_handles.rc_map_aux2 = param_find("RC_MAP_AUX2");
@@ -551,6 +562,7 @@ Sensors::Sensors() :
_parameter_handles.rc_return_th = param_find("RC_RETURN_TH");
_parameter_handles.rc_loiter_th = param_find("RC_LOITER_TH");
_parameter_handles.rc_acro_th = param_find("RC_ACRO_TH");
_parameter_handles.rc_offboard_th = param_find("RC_OFFB_TH");
/* gyro offsets */
_parameter_handles.gyro_offset[0] = param_find("SENS_GYRO_XOFF");
@@ -579,7 +591,7 @@ Sensors::Sensors() :
/* Differential pressure offset */
_parameter_handles.diff_pres_offset_pa = param_find("SENS_DPRES_OFF");
_parameter_handles.diff_pres_analog_enabled = param_find("SENS_DPRES_ANA");
_parameter_handles.diff_pres_analog_scale = param_find("SENS_DPRES_ANSC");
_parameter_handles.battery_voltage_scaling = param_find("BAT_V_SCALING");
_parameter_handles.battery_current_scaling = param_find("BAT_C_SCALING");
@@ -587,6 +599,11 @@ Sensors::Sensors() :
/* rotations */
_parameter_handles.board_rotation = param_find("SENS_BOARD_ROT");
_parameter_handles.external_mag_rotation = param_find("SENS_EXT_MAG_ROT");
/* rotation offsets */
_parameter_handles.board_offset[0] = param_find("SENS_BOARD_X_OFF");
_parameter_handles.board_offset[1] = param_find("SENS_BOARD_Y_OFF");
_parameter_handles.board_offset[2] = param_find("SENS_BOARD_Z_OFF");
/* fetch initial parameter values */
parameters_update();
@@ -640,7 +657,7 @@ Sensors::parameters_update()
if (!isfinite(tmpScaleFactor) ||
(tmpRevFactor < 0.000001f) ||
(tmpRevFactor > 0.2f)) {
warnx("RC chan %u not sane, scaling: %8.6f, rev: %d", i, tmpScaleFactor, (int)(_parameters.rev[i]));
warnx("RC chan %u not sane, scaling: %8.6f, rev: %d", i, (double)tmpScaleFactor, (int)(_parameters.rev[i]));
/* scaling factors do not make sense, lock them down */
_parameters.scaling_factor[i] = 0.0f;
rc_valid = false;
@@ -698,6 +715,10 @@ Sensors::parameters_update()
warnx("%s", paramerr);
}
if (param_get(_parameter_handles.rc_map_offboard_sw, &(_parameters.rc_map_offboard_sw)) != OK) {
warnx("%s", paramerr);
}
if (param_get(_parameter_handles.rc_map_flaps, &(_parameters.rc_map_flaps)) != OK) {
warnx("%s", paramerr);
}
@@ -726,6 +747,9 @@ Sensors::parameters_update()
param_get(_parameter_handles.rc_acro_th, &(_parameters.rc_acro_th));
_parameters.rc_acro_inv = (_parameters.rc_acro_th < 0);
_parameters.rc_acro_th = fabs(_parameters.rc_acro_th);
param_get(_parameter_handles.rc_offboard_th, &(_parameters.rc_offboard_th));
_parameters.rc_offboard_inv = (_parameters.rc_offboard_th < 0);
_parameters.rc_offboard_th = fabs(_parameters.rc_offboard_th);
/* update RC function mappings */
_rc.function[THROTTLE] = _parameters.rc_map_throttle - 1;
@@ -738,6 +762,7 @@ Sensors::parameters_update()
_rc.function[POSCTL] = _parameters.rc_map_posctl_sw - 1;
_rc.function[LOITER] = _parameters.rc_map_loiter_sw - 1;
_rc.function[ACRO] = _parameters.rc_map_acro_sw - 1;
_rc.function[OFFBOARD] = _parameters.rc_map_offboard_sw - 1;
_rc.function[FLAPS] = _parameters.rc_map_flaps - 1;
@@ -774,7 +799,7 @@ Sensors::parameters_update()
/* Airspeed offset */
param_get(_parameter_handles.diff_pres_offset_pa, &(_parameters.diff_pres_offset_pa));
param_get(_parameter_handles.diff_pres_analog_enabled, &(_parameters.diff_pres_analog_enabled));
param_get(_parameter_handles.diff_pres_analog_scale, &(_parameters.diff_pres_analog_scale));
/* scaling of ADC ticks to battery voltage */
if (param_get(_parameter_handles.battery_voltage_scaling, &(_parameters.battery_voltage_scaling)) != OK) {
@@ -791,6 +816,18 @@ Sensors::parameters_update()
get_rot_matrix((enum Rotation)_parameters.board_rotation, &_board_rotation);
get_rot_matrix((enum Rotation)_parameters.external_mag_rotation, &_external_mag_rotation);
param_get(_parameter_handles.board_offset[0], &(_parameters.board_offset[0]));
param_get(_parameter_handles.board_offset[1], &(_parameters.board_offset[1]));
param_get(_parameter_handles.board_offset[2], &(_parameters.board_offset[2]));
/** fine tune board offset on parameter update **/
math::Matrix<3, 3> board_rotation_offset;
board_rotation_offset.from_euler( M_DEG_TO_RAD_F * _parameters.board_offset[0],
M_DEG_TO_RAD_F * _parameters.board_offset[1],
M_DEG_TO_RAD_F * _parameters.board_offset[2]);
_board_rotation = _board_rotation * board_rotation_offset;
return OK;
}
@@ -1202,9 +1239,9 @@ Sensors::parameter_update_poll(bool forced)
}
#if 0
printf("CH0: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[0], (int)_parameters.min[0], (int)(_rc.chan[0].scaling_factor * 10000), (int)(_rc.chan[0].mid), (int)_rc.function[0]);
printf("CH1: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[1], (int)_parameters.min[1], (int)(_rc.chan[1].scaling_factor * 10000), (int)(_rc.chan[1].mid), (int)_rc.function[1]);
printf("MAN: %d %d\n", (int)(_rc.chan[0].scaled * 100), (int)(_rc.chan[1].scaled * 100));
printf("CH0: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[0], (int)_parameters.min[0], (int)(_rc.channels[0].scaling_factor * 10000), (int)(_rc.channels[0].mid), (int)_rc.function[0]);
printf("CH1: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[1], (int)_parameters.min[1], (int)(_rc.channels[1].scaling_factor * 10000), (int)(_rc.channels[1].mid), (int)_rc.function[1]);
printf("MAN: %d %d\n", (int)(_rc.channels[0] * 100), (int)(_rc.channels[1] * 100));
fflush(stdout);
usleep(5000);
#endif
@@ -1287,22 +1324,23 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
} else if (ADC_AIRSPEED_VOLTAGE_CHANNEL == buf_adc[i].am_channel) {
/* calculate airspeed, raw is the difference from */
float voltage = (float)(buf_adc[i].am_data) * 3.3f / 4096.0f * 2.0f; //V_ref/4096 * (voltage divider factor)
float voltage = (float)(buf_adc[i].am_data) * 3.3f / 4096.0f * 2.0f; // V_ref/4096 * (voltage divider factor)
/**
* The voltage divider pulls the signal down, only act on
* a valid voltage from a connected sensor. Also assume a non-
* zero offset from the sensor if its connected.
*/
if (voltage > 0.4f && _parameters.diff_pres_analog_enabled) {
if (voltage > 0.4f && (_parameters.diff_pres_analog_scale > 0.0f)) {
float diff_pres_pa = voltage * 1000.0f - _parameters.diff_pres_offset_pa; //for MPXV7002DP sensor
float diff_pres_pa_raw = voltage * _parameters.diff_pres_analog_scale - _parameters.diff_pres_offset_pa;
float diff_pres_pa = (diff_pres_pa_raw > 0.0f) ? diff_pres_pa_raw : 0.0f;
_diff_pres.timestamp = t;
_diff_pres.differential_pressure_pa = diff_pres_pa;
_diff_pres.differential_pressure_filtered_pa = diff_pres_pa;
_diff_pres.differential_pressure_raw_pa = diff_pres_pa_raw;
_diff_pres.differential_pressure_filtered_pa = (_diff_pres.differential_pressure_filtered_pa * 0.9f) + (diff_pres_pa * 0.1f);
_diff_pres.temperature = -1000.0f;
_diff_pres.voltage = voltage;
/* announce the airspeed if needed, just publish else */
if (_diff_pres_pub > 0) {
@@ -1334,7 +1372,7 @@ float
Sensors::get_rc_value(enum RC_CHANNELS_FUNCTION func, float min_value, float max_value)
{
if (_rc.function[func] >= 0) {
float value = _rc.chan[_rc.function[func]].scaled;
float value = _rc.channels[_rc.function[func]];
if (value < min_value) {
return min_value;
@@ -1355,7 +1393,7 @@ switch_pos_t
Sensors::get_rc_sw3pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv, float mid_th, bool mid_inv)
{
if (_rc.function[func] >= 0) {
float value = 0.5f * _rc.chan[_rc.function[func]].scaled + 0.5f;
float value = 0.5f * _rc.channels[_rc.function[func]] + 0.5f;
if (on_inv ? value < on_th : value > on_th) {
return SWITCH_POS_ON;
@@ -1376,7 +1414,7 @@ switch_pos_t
Sensors::get_rc_sw2pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv)
{
if (_rc.function[func] >= 0) {
float value = 0.5f * _rc.chan[_rc.function[func]].scaled + 0.5f;
float value = 0.5f * _rc.channels[_rc.function[func]] + 0.5f;
if (on_inv ? value < on_th : value > on_th) {
return SWITCH_POS_ON;
@@ -1468,25 +1506,25 @@ Sensors::rc_poll()
* DO NOT REMOVE OR ALTER STEP 1!
*/
if (rc_input.values[i] > (_parameters.trim[i] + _parameters.dz[i])) {
_rc.chan[i].scaled = (rc_input.values[i] - _parameters.trim[i] - _parameters.dz[i]) / (float)(_parameters.max[i] - _parameters.trim[i] - _parameters.dz[i]);
_rc.channels[i] = (rc_input.values[i] - _parameters.trim[i] - _parameters.dz[i]) / (float)(_parameters.max[i] - _parameters.trim[i] - _parameters.dz[i]);
} else if (rc_input.values[i] < (_parameters.trim[i] - _parameters.dz[i])) {
_rc.chan[i].scaled = (rc_input.values[i] - _parameters.trim[i] + _parameters.dz[i]) / (float)(_parameters.trim[i] - _parameters.min[i] - _parameters.dz[i]);
_rc.channels[i] = (rc_input.values[i] - _parameters.trim[i] + _parameters.dz[i]) / (float)(_parameters.trim[i] - _parameters.min[i] - _parameters.dz[i]);
} else {
/* in the configured dead zone, output zero */
_rc.chan[i].scaled = 0.0f;
_rc.channels[i] = 0.0f;
}
_rc.chan[i].scaled *= _parameters.rev[i];
_rc.channels[i] *= _parameters.rev[i];
/* handle any parameter-induced blowups */
if (!isfinite(_rc.chan[i].scaled)) {
_rc.chan[i].scaled = 0.0f;
if (!isfinite(_rc.channels[i])) {
_rc.channels[i] = 0.0f;
}
}
_rc.chan_count = rc_input.channel_count;
_rc.channel_count = rc_input.channel_count;
_rc.rssi = rc_input.rssi;
_rc.signal_lost = signal_lost;
_rc.timestamp = rc_input.timestamp_last_signal;
@@ -1524,6 +1562,7 @@ Sensors::rc_poll()
manual.return_switch = get_rc_sw2pos_position(RETURN, _parameters.rc_return_th, _parameters.rc_return_inv);
manual.loiter_switch = get_rc_sw2pos_position(LOITER, _parameters.rc_loiter_th, _parameters.rc_loiter_inv);
manual.acro_switch = get_rc_sw2pos_position(ACRO, _parameters.rc_acro_th, _parameters.rc_acro_inv);
manual.offboard_switch = get_rc_sw2pos_position(OFFBOARD, _parameters.rc_offboard_th, _parameters.rc_offboard_inv);
/* publish manual_control_setpoint topic */
if (_manual_control_pub > 0) {