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ekf2: subscribe to multi dist instances and check orientation

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This commit is contained in:
ChristophTobler
2017-09-25 08:52:21 +02:00
committed by ChristophTobler
parent 58e09faf9b
commit ee82e80517
1 changed files with 46 additions and 8 deletions
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src/modules/ekf2/ekf2_main.cpp
+46 -8
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@@ -107,6 +107,7 @@ public:
int print_status() override;
private:
int getRangeSubIndex(const int *subs);
bool _replay_mode = false; ///< true when we use replay data from a log
// time slip monitoring
@@ -437,7 +438,6 @@ void Ekf2::run()
int airspeed_sub = orb_subscribe(ORB_ID(airspeed));
int params_sub = orb_subscribe(ORB_ID(parameter_update));
int optical_flow_sub = orb_subscribe(ORB_ID(optical_flow));
int range_finder_sub = orb_subscribe(ORB_ID(distance_sensor));
int ev_pos_sub = orb_subscribe(ORB_ID(vehicle_vision_position));
int ev_att_sub = orb_subscribe(ORB_ID(vehicle_vision_attitude));
int vehicle_land_detected_sub = orb_subscribe(ORB_ID(vehicle_land_detected));
@@ -445,6 +445,14 @@ void Ekf2::run()
int sensor_selection_sub = orb_subscribe(ORB_ID(sensor_selection));
int sensor_baro_sub = orb_subscribe(ORB_ID(sensor_baro));
// because we can have several distance sensor instances with different orientations
int range_finder_subs[ORB_MULTI_MAX_INSTANCES];
int range_finder_sub_index = -1; // index for downward-facing range finder subscription
for (unsigned i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) {
range_finder_subs[i] = orb_subscribe_multi(ORB_ID(distance_sensor), i);
}
px4_pollfd_struct_t fds[1] = {};
fds[0].fd = sensors_sub;
fds[0].events = POLLIN;
@@ -549,15 +557,20 @@ void Ekf2::run()
orb_copy(ORB_ID(optical_flow), optical_flow_sub, &optical_flow);
}
orb_check(range_finder_sub, &range_finder_updated);
if (range_finder_sub_index >= 0) {
orb_check(range_finder_subs[range_finder_sub_index], &range_finder_updated);
if (range_finder_updated) {
orb_copy(ORB_ID(distance_sensor), range_finder_sub, &range_finder);
if (range_finder_updated) {
orb_copy(ORB_ID(distance_sensor), range_finder_subs[range_finder_sub_index], &range_finder);
if (range_finder.min_distance >= range_finder.current_distance
|| range_finder.max_distance <= range_finder.current_distance) {
range_finder_updated = false;
if (range_finder.min_distance >= range_finder.current_distance ||
range_finder.max_distance <= range_finder.current_distance) {
range_finder_updated = false;
}
}
} else {
range_finder_sub_index = getRangeSubIndex(range_finder_subs);
}
orb_check(ev_pos_sub, &vision_position_updated);
@@ -1279,13 +1292,38 @@ void Ekf2::run()
orb_unsubscribe(airspeed_sub);
orb_unsubscribe(params_sub);
orb_unsubscribe(optical_flow_sub);
orb_unsubscribe(range_finder_sub);
orb_unsubscribe(ev_pos_sub);
orb_unsubscribe(ev_att_sub);
orb_unsubscribe(vehicle_land_detected_sub);
orb_unsubscribe(status_sub);
orb_unsubscribe(sensor_selection_sub);
orb_unsubscribe(sensor_baro_sub);
for (unsigned i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) {
orb_unsubscribe(range_finder_subs[i]);
range_finder_subs[i] = -1;
}
}
int Ekf2::getRangeSubIndex(const int *subs)
{
for (unsigned i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) {
bool updated = false;
orb_check(subs[i], &updated);
if (updated) {
distance_sensor_s report = {};
orb_copy(ORB_ID(distance_sensor), subs[i], &report);
// only use the first instace which has the correct orientation
if (report.orientation == distance_sensor_s::ROTATION_DOWNWARD_FACING) {
PX4_INFO("Found range finder with instance %d", i);
return i;
}
}
}
return -1;
}
Ekf2 *Ekf2::instantiate(int argc, char *argv[])