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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-22 10:27:36 +08:00
mavlink: streams fix SCALED_IMU size reporting
This commit is contained in:
Daniel Agar
@@ -98,6 +98,8 @@
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#include "streams/RAW_RPM.hpp"
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#include "streams/RC_CHANNELS.hpp"
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#include "streams/SCALED_IMU.hpp"
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#include "streams/SCALED_IMU2.hpp"
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#include "streams/SCALED_IMU3.hpp"
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#include "streams/SCALED_PRESSURE.hpp"
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#include "streams/SERVO_OUTPUT_RAW.hpp"
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#include "streams/STATUSTEXT.hpp"
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@@ -333,10 +335,14 @@ static const StreamListItem streams_list[] = {
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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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create_stream_list_item<MavlinkStreamScaledIMU<2> >(),
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create_stream_list_item<MavlinkStreamScaledIMU>(),
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#endif // SCALED_IMU_HPP
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#if defined(SCALED_IMU2_HPP)
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create_stream_list_item<MavlinkStreamScaledIMU2>(),
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#endif // SCALED_IMU2_HPP
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#if defined(SCALED_IMU3_HPP)
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create_stream_list_item<MavlinkStreamScaledIMU3>(),
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#endif // SCALED_IMU3_HPP
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#if defined(SCALED_PRESSURE)
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create_stream_list_item<MavlinkStreamScaledPressure>(),
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#endif // SCALED_PRESSURE
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@@ -1,6 +1,6 @@
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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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* 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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@@ -37,163 +37,78 @@
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#include <lib/ecl/geo/geo.h>
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#include <lib/matrix/matrix/math.hpp>
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#include <uORB/topics/vehicle_imu.h>
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#include <uORB/topics/sensor_mag.h>
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#include <uORB/topics/vehicle_imu.h>
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using matrix::Vector3f;
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static constexpr const char *MSG_NAMES_SCALED_IMU[] = {
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"SCALED_IMU",
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"SCALED_IMU2",
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"SCALED_IMU3"
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};
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class MavlinkStreamScaledIMUBase : public MavlinkStream
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class MavlinkStreamScaledIMU : public MavlinkStream
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{
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protected:
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explicit MavlinkStreamScaledIMUBase(Mavlink *mavlink, int N) : MavlinkStream(mavlink),
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_raw_imu_sub(ORB_ID(vehicle_imu), N),
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_raw_mag_sub(ORB_ID(sensor_mag), N)
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{}
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public:
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static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamScaledIMU(mavlink); }
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static constexpr const char *get_name_static() { return "SCALED_IMU"; }
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static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_SCALED_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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if (_vehicle_imu_sub.advertised() || _sensor_mag_sub.advertised()) {
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return MAVLINK_MSG_ID_SCALED_IMU_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
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}
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return 0;
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}
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private:
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explicit MavlinkStreamScaledIMU(Mavlink *mavlink) : MavlinkStream(mavlink) {}
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uORB::Subscription _vehicle_imu_sub{ORB_ID(vehicle_imu), 0};
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uORB::Subscription _sensor_mag_sub{ORB_ID(sensor_mag), 0};
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bool send() override
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{
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if (_raw_imu_sub.updated() || _raw_mag_sub.updated()) {
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if (_vehicle_imu_sub.updated() || _sensor_mag_sub.updated()) {
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mavlink_scaled_imu_t msg{};
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vehicle_imu_s imu{};
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_raw_imu_sub.copy(&imu);
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vehicle_imu_s imu;
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sensor_mag_s sensor_mag{};
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_raw_mag_sub.copy(&sensor_mag);
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if (_vehicle_imu_sub.copy(&imu)) {
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msg.time_boot_ms = imu.timestamp / 1000;
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// Accelerometer in mG
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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 * 1000.0f / CONSTANTS_ONE_G;
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// Accelerometer in mG
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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 * 1000.0f / CONSTANTS_ONE_G;
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msg.xacc = (int16_t)accel(0);
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msg.yacc = (int16_t)accel(1);
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msg.zacc = (int16_t)accel(2);
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const float gyro_dt_inv = 1.e6f / (float)imu.delta_velocity_dt;
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const Vector3f gyro = Vector3f{imu.delta_angle} * gyro_dt_inv * 1000.0f;
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// Gyroscope in mrad/s
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const float gyro_dt_inv = 1.e6f / (float)imu.delta_velocity_dt;
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const Vector3f gyro = Vector3f{imu.delta_angle} * gyro_dt_inv * 1000.0f;
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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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}
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send_mavlink_message(imu.timestamp / 1000, accel, gyro, sensor_mag);
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sensor_mag_s sensor_mag;
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if (_sensor_mag_sub.copy(&sensor_mag)) {
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if (msg.time_boot_ms == 0) {
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msg.time_boot_ms = sensor_mag.timestamp / 1000;
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}
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msg.xmag = sensor_mag.x * 1000.0f; // Gauss -> MilliGauss
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msg.ymag = sensor_mag.y * 1000.0f; // Gauss -> MilliGauss
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msg.zmag = sensor_mag.z * 1000.0f; // Gauss -> MilliGauss
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msg.temperature = sensor_mag.temperature;
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}
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mavlink_msg_scaled_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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virtual void send_mavlink_message(uint32_t time_boot_ms, const Vector3f &sensor_accel, const Vector3f &gyro,
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sensor_mag_s &sensor_mag) = 0;
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private:
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uORB::Subscription _raw_imu_sub;
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uORB::Subscription _raw_mag_sub;
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// do not allow to copy this class
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MavlinkStreamScaledIMUBase(MavlinkStreamScaledIMUBase &) = delete;
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MavlinkStreamScaledIMUBase &operator = (const MavlinkStreamScaledIMUBase &) = delete;
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};
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template <int N, typename Derived, uint16_t MSG_ID_SCALED_IMU, unsigned MSG_ID_SCALED_IMU_LEN, typename MavlinkMsg>
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class MavlinkStreamScaledIMUTemplate : public MavlinkStreamScaledIMUBase
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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 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 MSG_NAMES_SCALED_IMU[N];
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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 constexpr uint16_t get_id_static()
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{
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return MSG_ID_SCALED_IMU;
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}
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unsigned get_size() override
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{
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return MSG_ID_SCALED_IMU_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
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}
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static MavlinkStream *new_instance(Mavlink *mavlink)
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{
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return new Derived(mavlink);
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}
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private:
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typedef void (*SendMavlinkHandler)(mavlink_channel_t, const MavlinkMsg *);
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SendMavlinkHandler _send_mavlink;
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protected:
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explicit MavlinkStreamScaledIMUTemplate(Mavlink *mavlink,
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SendMavlinkHandler handler) : MavlinkStreamScaledIMUBase(mavlink, N),
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_send_mavlink(handler)
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{}
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void send_mavlink_message(uint32_t time_boot_ms, const Vector3f &accel, const Vector3f &gyro,
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sensor_mag_s &sensor_mag) override
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{
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MavlinkMsg msg{};
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msg.time_boot_ms = time_boot_ms;
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msg.xacc = (int16_t)accel(0);
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msg.yacc = (int16_t)accel(1);
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msg.zacc = (int16_t)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 = sensor_mag.x * 1000.0f; // Gauss -> MilliGauss
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msg.ymag = sensor_mag.y * 1000.0f; // Gauss -> MilliGauss
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msg.zmag = sensor_mag.z * 1000.0f; // Gauss -> MilliGauss
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msg.temperature = sensor_mag.temperature;
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_send_mavlink(_mavlink->get_channel(), &msg);
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}
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};
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template <int N> struct MavlinkStreamScaledIMU {};
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template <>
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class MavlinkStreamScaledIMU<0> : public
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MavlinkStreamScaledIMUTemplate<0, MavlinkStreamScaledIMU<0>, MAVLINK_MSG_ID_SCALED_IMU, MAVLINK_MSG_ID_SCALED_IMU_LEN, mavlink_scaled_imu_t>
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{
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public:
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typedef MavlinkStreamScaledIMUTemplate<0, MavlinkStreamScaledIMU<0>, MAVLINK_MSG_ID_SCALED_IMU, MAVLINK_MSG_ID_SCALED_IMU_LEN, mavlink_scaled_imu_t>
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Base;
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explicit MavlinkStreamScaledIMU(Mavlink *mavlink) : Base(mavlink, mavlink_msg_scaled_imu_send_struct)
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{}
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};
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template <>
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class MavlinkStreamScaledIMU<1> : public
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MavlinkStreamScaledIMUTemplate<1, MavlinkStreamScaledIMU<1>, MAVLINK_MSG_ID_SCALED_IMU2, MAVLINK_MSG_ID_SCALED_IMU2_LEN, mavlink_scaled_imu2_t>
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{
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public:
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typedef MavlinkStreamScaledIMUTemplate<1, MavlinkStreamScaledIMU<1>, MAVLINK_MSG_ID_SCALED_IMU2, MAVLINK_MSG_ID_SCALED_IMU2_LEN, mavlink_scaled_imu2_t>
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Base;
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explicit MavlinkStreamScaledIMU(Mavlink *mavlink) : Base(mavlink, mavlink_msg_scaled_imu2_send_struct)
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{}
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};
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template <>
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class MavlinkStreamScaledIMU<2> : public
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MavlinkStreamScaledIMUTemplate<2, MavlinkStreamScaledIMU<2>, MAVLINK_MSG_ID_SCALED_IMU3, MAVLINK_MSG_ID_SCALED_IMU3_LEN, mavlink_scaled_imu3_t>
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{
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public:
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typedef MavlinkStreamScaledIMUTemplate<2, MavlinkStreamScaledIMU<2>, MAVLINK_MSG_ID_SCALED_IMU3, MAVLINK_MSG_ID_SCALED_IMU3_LEN, mavlink_scaled_imu3_t>
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Base;
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explicit MavlinkStreamScaledIMU(Mavlink *mavlink) : Base(mavlink, mavlink_msg_scaled_imu3_send_struct)
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{}
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};
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#endif /* SCALED_IMU_HPP */
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@@ -0,0 +1,114 @@
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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
|
||||
* 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.
|
||||
*
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****************************************************************************/
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#ifndef SCALED_IMU2_HPP
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#define SCALED_IMU2_HPP
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#include <lib/ecl/geo/geo.h>
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#include <lib/matrix/matrix/math.hpp>
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#include <uORB/topics/sensor_mag.h>
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#include <uORB/topics/vehicle_imu.h>
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class MavlinkStreamScaledIMU2 : public MavlinkStream
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{
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public:
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static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamScaledIMU2(mavlink); }
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static constexpr const char *get_name_static() { return "SCALED_IMU2"; }
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static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_SCALED_IMU2; }
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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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if (_vehicle_imu_sub.advertised() || _sensor_mag_sub.advertised()) {
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return MAVLINK_MSG_ID_SCALED_IMU2_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
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}
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return 0;
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}
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private:
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explicit MavlinkStreamScaledIMU2(Mavlink *mavlink) : MavlinkStream(mavlink) {}
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uORB::Subscription _vehicle_imu_sub{ORB_ID(vehicle_imu), 1};
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uORB::Subscription _sensor_mag_sub{ORB_ID(sensor_mag), 1};
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bool send() override
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{
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if (_vehicle_imu_sub.updated() || _sensor_mag_sub.updated()) {
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mavlink_scaled_imu2_t msg{};
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vehicle_imu_s imu;
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if (_vehicle_imu_sub.copy(&imu)) {
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msg.time_boot_ms = imu.timestamp / 1000;
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// Accelerometer in mG
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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 * 1000.0f / CONSTANTS_ONE_G;
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msg.xacc = (int16_t)accel(0);
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msg.yacc = (int16_t)accel(1);
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msg.zacc = (int16_t)accel(2);
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// Gyroscope in mrad/s
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const float gyro_dt_inv = 1.e6f / (float)imu.delta_velocity_dt;
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const Vector3f gyro = Vector3f{imu.delta_angle} * gyro_dt_inv * 1000.0f;
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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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}
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sensor_mag_s sensor_mag;
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if (_sensor_mag_sub.copy(&sensor_mag)) {
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if (msg.time_boot_ms == 0) {
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msg.time_boot_ms = sensor_mag.timestamp / 1000;
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}
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msg.xmag = sensor_mag.x * 1000.0f; // Gauss -> MilliGauss
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msg.ymag = sensor_mag.y * 1000.0f; // Gauss -> MilliGauss
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msg.zmag = sensor_mag.z * 1000.0f; // Gauss -> MilliGauss
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msg.temperature = sensor_mag.temperature;
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}
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mavlink_msg_scaled_imu2_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 /* SCALED_IMU2_HPP */
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@@ -0,0 +1,114 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#ifndef SCALED_IMU3_HPP
|
||||
#define SCALED_IMU3_HPP
|
||||
|
||||
#include <lib/ecl/geo/geo.h>
|
||||
#include <lib/matrix/matrix/math.hpp>
|
||||
|
||||
#include <uORB/topics/sensor_mag.h>
|
||||
#include <uORB/topics/vehicle_imu.h>
|
||||
|
||||
class MavlinkStreamScaledIMU3 : public MavlinkStream
|
||||
{
|
||||
public:
|
||||
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamScaledIMU3(mavlink); }
|
||||
|
||||
static constexpr const char *get_name_static() { return "SCALED_IMU3"; }
|
||||
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_SCALED_IMU3; }
|
||||
|
||||
const char *get_name() const override { return get_name_static(); }
|
||||
uint16_t get_id() override { return get_id_static(); }
|
||||
|
||||
unsigned get_size() override
|
||||
{
|
||||
if (_vehicle_imu_sub.advertised() || _sensor_mag_sub.advertised()) {
|
||||
return MAVLINK_MSG_ID_SCALED_IMU3_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
private:
|
||||
explicit MavlinkStreamScaledIMU3(Mavlink *mavlink) : MavlinkStream(mavlink) {}
|
||||
|
||||
uORB::Subscription _vehicle_imu_sub{ORB_ID(vehicle_imu), 2};
|
||||
uORB::Subscription _sensor_mag_sub{ORB_ID(sensor_mag), 2};
|
||||
|
||||
bool send() override
|
||||
{
|
||||
if (_vehicle_imu_sub.updated() || _sensor_mag_sub.updated()) {
|
||||
mavlink_scaled_imu3_t msg{};
|
||||
|
||||
vehicle_imu_s imu;
|
||||
|
||||
if (_vehicle_imu_sub.copy(&imu)) {
|
||||
msg.time_boot_ms = imu.timestamp / 1000;
|
||||
|
||||
// Accelerometer in mG
|
||||
const float accel_dt_inv = 1.e6f / (float)imu.delta_velocity_dt;
|
||||
const Vector3f accel = Vector3f{imu.delta_velocity} * accel_dt_inv * 1000.0f / CONSTANTS_ONE_G;
|
||||
msg.xacc = (int16_t)accel(0);
|
||||
msg.yacc = (int16_t)accel(1);
|
||||
msg.zacc = (int16_t)accel(2);
|
||||
|
||||
// Gyroscope in mrad/s
|
||||
const float gyro_dt_inv = 1.e6f / (float)imu.delta_velocity_dt;
|
||||
const Vector3f gyro = Vector3f{imu.delta_angle} * gyro_dt_inv * 1000.0f;
|
||||
msg.xgyro = gyro(0);
|
||||
msg.ygyro = gyro(1);
|
||||
msg.zgyro = gyro(2);
|
||||
}
|
||||
|
||||
sensor_mag_s sensor_mag;
|
||||
|
||||
if (_sensor_mag_sub.copy(&sensor_mag)) {
|
||||
if (msg.time_boot_ms == 0) {
|
||||
msg.time_boot_ms = sensor_mag.timestamp / 1000;
|
||||
}
|
||||
|
||||
msg.xmag = sensor_mag.x * 1000.0f; // Gauss -> MilliGauss
|
||||
msg.ymag = sensor_mag.y * 1000.0f; // Gauss -> MilliGauss
|
||||
msg.zmag = sensor_mag.z * 1000.0f; // Gauss -> MilliGauss
|
||||
msg.temperature = sensor_mag.temperature;
|
||||
}
|
||||
|
||||
mavlink_msg_scaled_imu3_send_struct(_mavlink->get_channel(), &msg);
|
||||
return true;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
};
|
||||
#endif /* SCALED_IMU3_HPP */
|
||||
Reference in New Issue
Block a user