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mavlink: move HIGHRES_IMU to separate stream header
This commit is contained in:
Daniel Agar
parent
248978b25e
commit
ec6758f5af
@ -114,6 +114,7 @@ using matrix::wrap_2pi;
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#include "streams/GPS_GLOBAL_ORIGIN.hpp"
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#include "streams/GPS_RAW_INT.hpp"
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#include "streams/GPS_STATUS.hpp"
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#include "streams/HIGHRES_IMU.hpp"
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#include "streams/HIL_ACTUATOR_CONTROLS.hpp"
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#include "streams/HIL_STATE_QUATERNION.hpp"
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#include "streams/HOME_POSITION.hpp"
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@ -886,190 +887,6 @@ protected:
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}
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};
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class MavlinkStreamHighresIMU : public MavlinkStream
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{
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public:
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const char *get_name() const override
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{
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return MavlinkStreamHighresIMU::get_name_static();
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}
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static constexpr const char *get_name_static()
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{
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return "HIGHRES_IMU";
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}
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static constexpr uint16_t get_id_static()
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{
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return MAVLINK_MSG_ID_HIGHRES_IMU;
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}
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uint16_t get_id() override
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{
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return get_id_static();
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}
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static MavlinkStream *new_instance(Mavlink *mavlink)
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{
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return new MavlinkStreamHighresIMU(mavlink);
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}
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unsigned get_size() override
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{
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return MAVLINK_MSG_ID_HIGHRES_IMU_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
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}
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private:
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uORB::SubscriptionMultiArray<vehicle_imu_s, 3> _vehicle_imu_subs{ORB_ID::vehicle_imu};
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uORB::Subscription _estimator_sensor_bias_sub{ORB_ID(estimator_sensor_bias)};
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uORB::Subscription _estimator_selector_status_sub{ORB_ID(estimator_selector_status)};
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uORB::Subscription _sensor_selection_sub{ORB_ID(sensor_selection)};
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uORB::Subscription _differential_pressure_sub{ORB_ID(differential_pressure)};
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uORB::Subscription _magnetometer_sub{ORB_ID(vehicle_magnetometer)};
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uORB::Subscription _air_data_sub{ORB_ID(vehicle_air_data)};
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/* do not allow top copying this class */
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MavlinkStreamHighresIMU(MavlinkStreamHighresIMU &) = delete;
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MavlinkStreamHighresIMU &operator = (const MavlinkStreamHighresIMU &) = delete;
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protected:
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explicit MavlinkStreamHighresIMU(Mavlink *mavlink) : MavlinkStream(mavlink)
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{}
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bool send() override
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{
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bool updated = false;
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sensor_selection_s sensor_selection{};
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_sensor_selection_sub.copy(&sensor_selection);
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vehicle_imu_s imu;
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for (auto &imu_sub : _vehicle_imu_subs) {
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if (imu_sub.update(&imu)) {
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if (imu.accel_device_id == sensor_selection.accel_device_id) {
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updated = true;
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break;
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}
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}
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}
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if (updated) {
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uint16_t fields_updated = 0;
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fields_updated |= (1 << 0) | (1 << 1) | (1 << 2); // accel
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fields_updated |= (1 << 3) | (1 << 4) | (1 << 5); // gyro
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vehicle_magnetometer_s magnetometer{};
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if (_magnetometer_sub.update(&magnetometer)) {
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// mark third group dimensions as changed
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fields_updated |= (1 << 6) | (1 << 7) | (1 << 8);
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} else {
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_magnetometer_sub.copy(&magnetometer);
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}
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// find corresponding estimated sensor bias
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if (_estimator_selector_status_sub.updated()) {
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estimator_selector_status_s estimator_selector_status;
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if (_estimator_selector_status_sub.copy(&estimator_selector_status)) {
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_estimator_sensor_bias_sub.ChangeInstance(estimator_selector_status.primary_instance);
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}
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}
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Vector3f accel_bias{0.f, 0.f, 0.f};
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Vector3f gyro_bias{0.f, 0.f, 0.f};
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Vector3f mag_bias{0.f, 0.f, 0.f};
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{
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estimator_sensor_bias_s bias;
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if (_estimator_sensor_bias_sub.copy(&bias)) {
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if ((bias.accel_device_id != 0) && (bias.accel_device_id == imu.accel_device_id)) {
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accel_bias = Vector3f{bias.accel_bias};
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}
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if ((bias.gyro_device_id != 0) && (bias.gyro_device_id == imu.gyro_device_id)) {
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gyro_bias = Vector3f{bias.gyro_bias};
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}
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if ((bias.mag_device_id != 0) && (bias.mag_device_id == magnetometer.device_id)) {
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mag_bias = Vector3f{bias.mag_bias};
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} else {
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// find primary mag
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uORB::SubscriptionMultiArray<vehicle_magnetometer_s> mag_subs{ORB_ID::vehicle_magnetometer};
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for (int i = 0; i < mag_subs.size(); i++) {
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if (mag_subs[i].advertised() && mag_subs[i].copy(&magnetometer)) {
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if (magnetometer.device_id == bias.mag_device_id) {
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_magnetometer_sub.ChangeInstance(i);
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break;
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}
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}
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}
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}
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}
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}
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const Vector3f mag = Vector3f{magnetometer.magnetometer_ga} - mag_bias;
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vehicle_air_data_s air_data{};
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if (_air_data_sub.update(&air_data)) {
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/* mark fourth group (baro fields) dimensions as changed */
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fields_updated |= (1 << 9) | (1 << 11) | (1 << 12);
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} else {
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_air_data_sub.copy(&air_data);
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}
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differential_pressure_s differential_pressure{};
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if (_differential_pressure_sub.update(&differential_pressure)) {
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/* mark fourth group (dpres field) dimensions as changed */
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fields_updated |= (1 << 10);
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} else {
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_differential_pressure_sub.copy(&differential_pressure);
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}
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const float accel_dt_inv = 1.e6f / (float)imu.delta_velocity_dt;
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const Vector3f accel = (Vector3f{imu.delta_velocity} * accel_dt_inv) - accel_bias;
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const float gyro_dt_inv = 1.e6f / (float)imu.delta_angle_dt;
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const Vector3f gyro = (Vector3f{imu.delta_angle} * gyro_dt_inv) - gyro_bias;
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mavlink_highres_imu_t msg{};
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msg.time_usec = imu.timestamp_sample;
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msg.xacc = accel(0);
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msg.yacc = accel(1);
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msg.zacc = accel(2);
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msg.xgyro = gyro(0);
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msg.ygyro = gyro(1);
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msg.zgyro = gyro(2);
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msg.xmag = mag(0);
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msg.ymag = mag(1);
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msg.zmag = mag(2);
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msg.abs_pressure = air_data.baro_pressure_pa;
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msg.diff_pressure = differential_pressure.differential_pressure_raw_pa;
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msg.pressure_alt = air_data.baro_alt_meter;
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msg.temperature = air_data.baro_temp_celcius;
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msg.fields_updated = fields_updated;
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mavlink_msg_highres_imu_send_struct(_mavlink->get_channel(), &msg);
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return true;
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}
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return false;
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}
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};
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class MavlinkStreamCameraTrigger : public MavlinkStream
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{
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public:
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@ -1260,7 +1077,9 @@ static const StreamListItem streams_list[] = {
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create_stream_list_item<MavlinkStreamSysStatus>(),
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create_stream_list_item<MavlinkStreamBatteryStatus>(),
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create_stream_list_item<MavlinkStreamSmartBatteryInfo>(),
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#if defined(HIGHRES_IMU_HPP)
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create_stream_list_item<MavlinkStreamHighresIMU>(),
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#endif // HIGHRES_IMU_HPP
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#if defined(SCALED_IMU_HPP)
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create_stream_list_item<MavlinkStreamScaledIMU<0> >(),
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create_stream_list_item<MavlinkStreamScaledIMU<1> >(),
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207
src/modules/mavlink/streams/HIGHRES_IMU.hpp
Normal file
207
src/modules/mavlink/streams/HIGHRES_IMU.hpp
Normal file
@ -0,0 +1,207 @@
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/****************************************************************************
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*
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* Copyright (c) 2021 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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#ifndef HIGHRES_IMU_HPP
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#define HIGHRES_IMU_HPP
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#include <uORB/topics/estimator_sensor_bias.h>
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#include <uORB/topics/estimator_selector_status.h>
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#include <uORB/topics/differential_pressure.h>
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#include <uORB/topics/sensor_selection.h>
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#include <uORB/topics/vehicle_air_data.h>
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#include <uORB/topics/vehicle_imu.h>
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#include <uORB/topics/vehicle_magnetometer.h>
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using matrix::Vector3f;
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class MavlinkStreamHighresIMU : public MavlinkStream
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{
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public:
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static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamHighresIMU(mavlink); }
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static constexpr const char *get_name_static() { return "HIGHRES_IMU"; }
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static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_HIGHRES_IMU; }
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const char *get_name() const override { return get_name_static(); }
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uint16_t get_id() override { return get_id_static(); }
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unsigned get_size() override
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{
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return MAVLINK_MSG_ID_HIGHRES_IMU_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
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}
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private:
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explicit MavlinkStreamHighresIMU(Mavlink *mavlink) : MavlinkStream(mavlink) {}
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uORB::SubscriptionMultiArray<vehicle_imu_s, 3> _vehicle_imu_subs{ORB_ID::vehicle_imu};
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uORB::Subscription _estimator_sensor_bias_sub{ORB_ID(estimator_sensor_bias)};
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uORB::Subscription _estimator_selector_status_sub{ORB_ID(estimator_selector_status)};
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uORB::Subscription _sensor_selection_sub{ORB_ID(sensor_selection)};
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uORB::Subscription _differential_pressure_sub{ORB_ID(differential_pressure)};
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uORB::Subscription _magnetometer_sub{ORB_ID(vehicle_magnetometer)};
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uORB::Subscription _air_data_sub{ORB_ID(vehicle_air_data)};
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bool send() override
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{
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bool updated = false;
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sensor_selection_s sensor_selection{};
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_sensor_selection_sub.copy(&sensor_selection);
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vehicle_imu_s imu;
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for (auto &imu_sub : _vehicle_imu_subs) {
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if (imu_sub.update(&imu)) {
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if (imu.accel_device_id == sensor_selection.accel_device_id) {
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updated = true;
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break;
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}
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}
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}
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if (updated) {
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uint16_t fields_updated = 0;
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fields_updated |= (1 << 0) | (1 << 1) | (1 << 2); // accel
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fields_updated |= (1 << 3) | (1 << 4) | (1 << 5); // gyro
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vehicle_magnetometer_s magnetometer{};
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if (_magnetometer_sub.update(&magnetometer)) {
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// mark third group dimensions as changed
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fields_updated |= (1 << 6) | (1 << 7) | (1 << 8);
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} else {
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_magnetometer_sub.copy(&magnetometer);
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}
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// find corresponding estimated sensor bias
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if (_estimator_selector_status_sub.updated()) {
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estimator_selector_status_s estimator_selector_status;
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if (_estimator_selector_status_sub.copy(&estimator_selector_status)) {
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_estimator_sensor_bias_sub.ChangeInstance(estimator_selector_status.primary_instance);
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}
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}
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Vector3f accel_bias{0.f, 0.f, 0.f};
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Vector3f gyro_bias{0.f, 0.f, 0.f};
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Vector3f mag_bias{0.f, 0.f, 0.f};
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{
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estimator_sensor_bias_s bias;
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if (_estimator_sensor_bias_sub.copy(&bias)) {
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if ((bias.accel_device_id != 0) && (bias.accel_device_id == imu.accel_device_id)) {
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accel_bias = Vector3f{bias.accel_bias};
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}
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if ((bias.gyro_device_id != 0) && (bias.gyro_device_id == imu.gyro_device_id)) {
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gyro_bias = Vector3f{bias.gyro_bias};
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}
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if ((bias.mag_device_id != 0) && (bias.mag_device_id == magnetometer.device_id)) {
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mag_bias = Vector3f{bias.mag_bias};
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} else {
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// find primary mag
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uORB::SubscriptionMultiArray<vehicle_magnetometer_s> mag_subs{ORB_ID::vehicle_magnetometer};
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for (int i = 0; i < mag_subs.size(); i++) {
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if (mag_subs[i].advertised() && mag_subs[i].copy(&magnetometer)) {
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if (magnetometer.device_id == bias.mag_device_id) {
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_magnetometer_sub.ChangeInstance(i);
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break;
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}
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}
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}
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}
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}
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}
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const Vector3f mag = Vector3f{magnetometer.magnetometer_ga} - mag_bias;
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vehicle_air_data_s air_data{};
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if (_air_data_sub.update(&air_data)) {
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/* mark fourth group (baro fields) dimensions as changed */
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fields_updated |= (1 << 9) | (1 << 11) | (1 << 12);
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} else {
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_air_data_sub.copy(&air_data);
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}
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differential_pressure_s differential_pressure{};
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if (_differential_pressure_sub.update(&differential_pressure)) {
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/* mark fourth group (dpres field) dimensions as changed */
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fields_updated |= (1 << 10);
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} else {
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_differential_pressure_sub.copy(&differential_pressure);
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}
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const float accel_dt_inv = 1.e6f / (float)imu.delta_velocity_dt;
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const Vector3f accel = (Vector3f{imu.delta_velocity} * accel_dt_inv) - accel_bias;
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const float gyro_dt_inv = 1.e6f / (float)imu.delta_angle_dt;
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const Vector3f gyro = (Vector3f{imu.delta_angle} * gyro_dt_inv) - gyro_bias;
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mavlink_highres_imu_t msg{};
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msg.time_usec = imu.timestamp_sample;
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msg.xacc = accel(0);
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msg.yacc = accel(1);
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msg.zacc = accel(2);
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msg.xgyro = gyro(0);
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msg.ygyro = gyro(1);
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msg.zgyro = gyro(2);
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msg.xmag = mag(0);
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msg.ymag = mag(1);
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msg.zmag = mag(2);
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msg.abs_pressure = air_data.baro_pressure_pa;
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msg.diff_pressure = differential_pressure.differential_pressure_raw_pa;
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msg.pressure_alt = air_data.baro_alt_meter;
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msg.temperature = air_data.baro_temp_celcius;
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msg.fields_updated = fields_updated;
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mavlink_msg_highres_imu_send_struct(_mavlink->get_channel(), &msg);
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return true;
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}
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return false;
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}
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};
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#endif // HIGHRES_IMU_HPP
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