From f0f16b9cc5be281b84b7c425bc16fff29362dbd9 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Mon, 12 Apr 2021 11:47:08 -0400 Subject: [PATCH] mavlink: streams fix SCALED_IMU size reporting --- src/modules/mavlink/mavlink_messages.cpp | 12 +- src/modules/mavlink/streams/SCALED_IMU.hpp | 199 ++++++-------------- src/modules/mavlink/streams/SCALED_IMU2.hpp | 114 +++++++++++ src/modules/mavlink/streams/SCALED_IMU3.hpp | 114 +++++++++++ 4 files changed, 294 insertions(+), 145 deletions(-) create mode 100644 src/modules/mavlink/streams/SCALED_IMU2.hpp create mode 100644 src/modules/mavlink/streams/SCALED_IMU3.hpp diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index a89bbf8f6e..dbfd97cdaf 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -98,6 +98,8 @@ #include "streams/RAW_RPM.hpp" #include "streams/RC_CHANNELS.hpp" #include "streams/SCALED_IMU.hpp" +#include "streams/SCALED_IMU2.hpp" +#include "streams/SCALED_IMU3.hpp" #include "streams/SCALED_PRESSURE.hpp" #include "streams/SERVO_OUTPUT_RAW.hpp" #include "streams/STATUSTEXT.hpp" @@ -333,10 +335,14 @@ static const StreamListItem streams_list[] = { create_stream_list_item(), #endif // HIGHRES_IMU_HPP #if defined(SCALED_IMU_HPP) - create_stream_list_item >(), - create_stream_list_item >(), - create_stream_list_item >(), + create_stream_list_item(), #endif // SCALED_IMU_HPP +#if defined(SCALED_IMU2_HPP) + create_stream_list_item(), +#endif // SCALED_IMU2_HPP +#if defined(SCALED_IMU3_HPP) + create_stream_list_item(), +#endif // SCALED_IMU3_HPP #if defined(SCALED_PRESSURE) create_stream_list_item(), #endif // SCALED_PRESSURE diff --git a/src/modules/mavlink/streams/SCALED_IMU.hpp b/src/modules/mavlink/streams/SCALED_IMU.hpp index 4e3d3adc45..efee6f369e 100644 --- a/src/modules/mavlink/streams/SCALED_IMU.hpp +++ b/src/modules/mavlink/streams/SCALED_IMU.hpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * 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 @@ -37,163 +37,78 @@ #include #include -#include #include +#include -using matrix::Vector3f; - -static constexpr const char *MSG_NAMES_SCALED_IMU[] = { - "SCALED_IMU", - "SCALED_IMU2", - "SCALED_IMU3" -}; - -class MavlinkStreamScaledIMUBase : public MavlinkStream +class MavlinkStreamScaledIMU : public MavlinkStream { -protected: - explicit MavlinkStreamScaledIMUBase(Mavlink *mavlink, int N) : MavlinkStream(mavlink), - _raw_imu_sub(ORB_ID(vehicle_imu), N), - _raw_mag_sub(ORB_ID(sensor_mag), N) - {} +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamScaledIMU(mavlink); } + static constexpr const char *get_name_static() { return "SCALED_IMU"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_SCALED_IMU; } + + 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_IMU_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; + } + + return 0; + } + +private: + explicit MavlinkStreamScaledIMU(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _vehicle_imu_sub{ORB_ID(vehicle_imu), 0}; + uORB::Subscription _sensor_mag_sub{ORB_ID(sensor_mag), 0}; bool send() override { - if (_raw_imu_sub.updated() || _raw_mag_sub.updated()) { + if (_vehicle_imu_sub.updated() || _sensor_mag_sub.updated()) { + mavlink_scaled_imu_t msg{}; - vehicle_imu_s imu{}; - _raw_imu_sub.copy(&imu); + vehicle_imu_s imu; - sensor_mag_s sensor_mag{}; - _raw_mag_sub.copy(&sensor_mag); + 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; + // 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); - const float gyro_dt_inv = 1.e6f / (float)imu.delta_velocity_dt; - const Vector3f gyro = Vector3f{imu.delta_angle} * gyro_dt_inv * 1000.0f; + // 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); + } - send_mavlink_message(imu.timestamp / 1000, accel, gyro, sensor_mag); + 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_imu_send_struct(_mavlink->get_channel(), &msg); return true; } return false; } - - virtual void send_mavlink_message(uint32_t time_boot_ms, const Vector3f &sensor_accel, const Vector3f &gyro, - sensor_mag_s &sensor_mag) = 0; - -private: - uORB::Subscription _raw_imu_sub; - uORB::Subscription _raw_mag_sub; - - // do not allow to copy this class - MavlinkStreamScaledIMUBase(MavlinkStreamScaledIMUBase &) = delete; - MavlinkStreamScaledIMUBase &operator = (const MavlinkStreamScaledIMUBase &) = delete; }; - -template -class MavlinkStreamScaledIMUTemplate : public MavlinkStreamScaledIMUBase -{ -public: - const char *get_name() const override - { - return get_name_static(); - } - - static constexpr const char *get_name_static() - { - return MSG_NAMES_SCALED_IMU[N]; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static constexpr uint16_t get_id_static() - { - return MSG_ID_SCALED_IMU; - } - - unsigned get_size() override - { - return MSG_ID_SCALED_IMU_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new Derived(mavlink); - } - -private: - typedef void (*SendMavlinkHandler)(mavlink_channel_t, const MavlinkMsg *); - SendMavlinkHandler _send_mavlink; - -protected: - explicit MavlinkStreamScaledIMUTemplate(Mavlink *mavlink, - SendMavlinkHandler handler) : MavlinkStreamScaledIMUBase(mavlink, N), - _send_mavlink(handler) - {} - - void send_mavlink_message(uint32_t time_boot_ms, const Vector3f &accel, const Vector3f &gyro, - sensor_mag_s &sensor_mag) override - { - MavlinkMsg msg{}; - msg.time_boot_ms = time_boot_ms; - msg.xacc = (int16_t)accel(0); - msg.yacc = (int16_t)accel(1); - msg.zacc = (int16_t)accel(2); - msg.xgyro = gyro(0); - msg.ygyro = gyro(1); - msg.zgyro = gyro(2); - 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; - - _send_mavlink(_mavlink->get_channel(), &msg); - } -}; - -template struct MavlinkStreamScaledIMU {}; - -template <> -class MavlinkStreamScaledIMU<0> : public - MavlinkStreamScaledIMUTemplate<0, MavlinkStreamScaledIMU<0>, MAVLINK_MSG_ID_SCALED_IMU, MAVLINK_MSG_ID_SCALED_IMU_LEN, mavlink_scaled_imu_t> -{ -public: - typedef MavlinkStreamScaledIMUTemplate<0, MavlinkStreamScaledIMU<0>, MAVLINK_MSG_ID_SCALED_IMU, MAVLINK_MSG_ID_SCALED_IMU_LEN, mavlink_scaled_imu_t> - Base; - - explicit MavlinkStreamScaledIMU(Mavlink *mavlink) : Base(mavlink, mavlink_msg_scaled_imu_send_struct) - {} -}; - -template <> -class MavlinkStreamScaledIMU<1> : public - MavlinkStreamScaledIMUTemplate<1, MavlinkStreamScaledIMU<1>, MAVLINK_MSG_ID_SCALED_IMU2, MAVLINK_MSG_ID_SCALED_IMU2_LEN, mavlink_scaled_imu2_t> -{ -public: - typedef MavlinkStreamScaledIMUTemplate<1, MavlinkStreamScaledIMU<1>, MAVLINK_MSG_ID_SCALED_IMU2, MAVLINK_MSG_ID_SCALED_IMU2_LEN, mavlink_scaled_imu2_t> - Base; - - explicit MavlinkStreamScaledIMU(Mavlink *mavlink) : Base(mavlink, mavlink_msg_scaled_imu2_send_struct) - {} -}; - -template <> -class MavlinkStreamScaledIMU<2> : public - MavlinkStreamScaledIMUTemplate<2, MavlinkStreamScaledIMU<2>, MAVLINK_MSG_ID_SCALED_IMU3, MAVLINK_MSG_ID_SCALED_IMU3_LEN, mavlink_scaled_imu3_t> -{ -public: - typedef MavlinkStreamScaledIMUTemplate<2, MavlinkStreamScaledIMU<2>, MAVLINK_MSG_ID_SCALED_IMU3, MAVLINK_MSG_ID_SCALED_IMU3_LEN, mavlink_scaled_imu3_t> - Base; - - explicit MavlinkStreamScaledIMU(Mavlink *mavlink) : Base(mavlink, mavlink_msg_scaled_imu3_send_struct) - {} -}; - - #endif /* SCALED_IMU_HPP */ diff --git a/src/modules/mavlink/streams/SCALED_IMU2.hpp b/src/modules/mavlink/streams/SCALED_IMU2.hpp new file mode 100644 index 0000000000..d6775bf329 --- /dev/null +++ b/src/modules/mavlink/streams/SCALED_IMU2.hpp @@ -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_IMU2_HPP +#define SCALED_IMU2_HPP + +#include +#include + +#include +#include + +class MavlinkStreamScaledIMU2 : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamScaledIMU2(mavlink); } + + static constexpr const char *get_name_static() { return "SCALED_IMU2"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_SCALED_IMU2; } + + 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_IMU2_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; + } + + return 0; + } + +private: + explicit MavlinkStreamScaledIMU2(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _vehicle_imu_sub{ORB_ID(vehicle_imu), 1}; + uORB::Subscription _sensor_mag_sub{ORB_ID(sensor_mag), 1}; + + bool send() override + { + if (_vehicle_imu_sub.updated() || _sensor_mag_sub.updated()) { + mavlink_scaled_imu2_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_imu2_send_struct(_mavlink->get_channel(), &msg); + return true; + } + + return false; + } +}; +#endif /* SCALED_IMU2_HPP */ diff --git a/src/modules/mavlink/streams/SCALED_IMU3.hpp b/src/modules/mavlink/streams/SCALED_IMU3.hpp new file mode 100644 index 0000000000..ea26548313 --- /dev/null +++ b/src/modules/mavlink/streams/SCALED_IMU3.hpp @@ -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 +#include + +#include +#include + +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 */