fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-18 03:33:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

sensors: first part of a calibration refactor

Browse Source 
This adds uORB messages to publish calibration data by sensors which is
then consumed by the sensors. Currently this is only used on Snapdragon
and guarded by QURT ifdefs.
This commit is contained in:
Julian Oes
2016-03-24 13:08:30 +01:00
parent 76a8bea1c1
commit f24b2a701f
6 changed files with 314 additions and 88 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/platforms/posix/drivers/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp
+123 -50
View File
@@ -57,9 +57,8 @@
#include <drivers/drv_accel.h>
#include <drivers/drv_gyro.h>
#include <board_config.h>
//#include <mathlib/math/filter/LowPassFilter2p.hpp>
//#include <lib/conversion/rotation.h>
#include <uORB/topics/gyro_calibration.h>
#include <uORB/topics/accel_calibration.h>
#include <mpu9250/MPU9250.hpp>
#include <DevMgr.hpp>
@@ -94,16 +93,28 @@ public:
private:
int _publish(struct imu_sensor_data &data);
void _update_accel_calibration();
void _update_gyro_calibration();
//enum Rotation _rotation;
orb_advert_t _accel_topic;
orb_advert_t _gyro_topic;
orb_advert_t _accel_topic;
orb_advert_t _gyro_topic;
int _accel_orb_class_instance;
int _gyro_orb_class_instance;
int _accel_calibration_sub;
int _gyro_calibration_sub;
perf_counter_t _accel_sample_perf;
perf_counter_t _gyro_sample_perf;
struct accel_calibration_s _accel_calibration;
struct gyro_calibration_s _gyro_calibration;
bool _accel_calibration_set;
bool _gyro_calibration_set;
int _accel_orb_class_instance;
int _gyro_orb_class_instance;
perf_counter_t _accel_sample_perf;
perf_counter_t _gyro_sample_perf;
};
@@ -111,6 +122,12 @@ DfMpu9250Wrapper::DfMpu9250Wrapper(/*enum Rotation rotation*/) :
MPU9250(IMU_DEVICE_PATH),
_accel_topic(nullptr),
_gyro_topic(nullptr),
_accel_calibration_sub(-1),
_gyro_calibration_sub(-1),
_accel_calibration{},
_gyro_calibration{},
_accel_calibration_set(false),
_gyro_calibration_set(false),
_accel_orb_class_instance(-1),
_gyro_orb_class_instance(-1),
_accel_sample_perf(perf_alloc(PC_ELAPSED, "df_accel_read")),
@@ -147,6 +164,14 @@ int DfMpu9250Wrapper::start()
return -1;
}
if (_accel_calibration_sub < 0) {
_accel_calibration_sub = orb_subscribe(ORB_ID(accel_calibration));
}
if (_gyro_calibration_sub < 0) {
_gyro_calibration_sub = orb_subscribe(ORB_ID(gyro_calibration));
}
/* Init device and start sensor. */
int ret = init();
@@ -178,66 +203,114 @@ int DfMpu9250Wrapper::stop()
return 0;
}
void DfMpu9250Wrapper::_update_gyro_calibration()
{
bool updated;
orb_check(_gyro_calibration_sub, &updated);
if (updated) {
gyro_calibration_s new_calibration;
orb_copy(ORB_ID(gyro_calibration), _gyro_calibration_sub, &new_calibration);
/* Only accept calibration for this device. */
if (m_id.dev_id == new_calibration.device_id) {
_gyro_calibration = new_calibration;
_gyro_calibration_set = true;
}
}
}
void DfMpu9250Wrapper::_update_accel_calibration()
{
bool updated;
orb_check(_accel_calibration_sub, &updated);
if (updated) {
accel_calibration_s new_calibration;
orb_copy(ORB_ID(accel_calibration), _accel_calibration_sub, &new_calibration);
/* Only accept calibration for this device. */
if (m_id.dev_id == new_calibration.device_id) {
_accel_calibration = new_calibration;
_accel_calibration_set = true;
}
}
}
int DfMpu9250Wrapper::_publish(struct imu_sensor_data &data)
{
/* Publish accel first. */
perf_begin(_accel_sample_perf);
/* Check if calibration values are still up-to-date */
_update_accel_calibration();
_update_gyro_calibration();
accel_report accel_report = {};
accel_report.timestamp = data.last_read_time_usec;
/* Don't publish if we have not received calibration data. */
if (_accel_calibration_set) {
// TODO: remove these (or get the values)
accel_report.x_raw = NAN;
accel_report.y_raw = NAN;
accel_report.z_raw = NAN;
accel_report.x = data.accel_m_s2_x;
accel_report.y = data.accel_m_s2_y;
accel_report.z = data.accel_m_s2_z;
/* Publish accel first. */
perf_begin(_accel_sample_perf);
// TODO: get these right
accel_report.scaling = -1.0f;
accel_report.range_m_s2 = -1.0f;
accel_report accel_report = {};
accel_report.timestamp = data.last_read_time_usec;
// TODO: when is this ever blocked?
if (!(m_pub_blocked)) {
// TODO: remove these (or get the values)
accel_report.x_raw = NAN;
accel_report.y_raw = NAN;
accel_report.z_raw = NAN;
accel_report.x = (data.accel_m_s2_x - _gyro_calibration.x_offset) * _gyro_calibration.x_scale;
accel_report.y = (data.accel_m_s2_y - _gyro_calibration.y_offset) * _gyro_calibration.y_scale;
accel_report.z = (data.accel_m_s2_z - _gyro_calibration.z_offset) * _gyro_calibration.z_scale;
if (_accel_topic != nullptr) {
orb_publish(ORB_ID(sensor_accel), _accel_topic, &accel_report);
// TODO: get these right
accel_report.scaling = -1.0f;
accel_report.range_m_s2 = -1.0f;
// TODO: when is this ever blocked?
if (!(m_pub_blocked)) {
if (_accel_topic != nullptr) {
orb_publish(ORB_ID(sensor_accel), _accel_topic, &accel_report);
}
}
perf_end(_accel_sample_perf);
}
perf_end(_accel_sample_perf);
/* Don't publish if we have not received calibration data. */
if (_gyro_calibration_set) {
/* Then publish gyro. */
perf_begin(_gyro_sample_perf);
/* Then publish gyro. */
perf_begin(_gyro_sample_perf);
gyro_report gyro_report = {};
gyro_report.timestamp = data.last_read_time_usec;
gyro_report gyro_report = {};
gyro_report.timestamp = data.last_read_time_usec;
// TODO: remove these (or get the values)
gyro_report.x_raw = NAN;
gyro_report.y_raw = NAN;
gyro_report.z_raw = NAN;
gyro_report.x = data.gyro_rad_s_x;
gyro_report.y = data.gyro_rad_s_y;
gyro_report.z = data.gyro_rad_s_z;
// TODO: remove these (or get the values)
gyro_report.x_raw = NAN;
gyro_report.y_raw = NAN;
gyro_report.z_raw = NAN;
gyro_report.x = data.gyro_rad_s_x;
gyro_report.y = data.gyro_rad_s_y;
gyro_report.z = data.gyro_rad_s_z;
// TODO: get these right
gyro_report.scaling = -1.0f;
gyro_report.range_rad_s = -1.0f;
// TODO: get these right
gyro_report.scaling = -1.0f;
gyro_report.range_rad_s = -1.0f;
// TODO: when is this ever blocked?
if (!(m_pub_blocked)) {
// TODO: when is this ever blocked?
if (!(m_pub_blocked)) {
if (_gyro_topic != nullptr) {
orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &gyro_report);
if (_gyro_topic != nullptr) {
orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &gyro_report);
}
}
perf_end(_gyro_sample_perf);
}
perf_end(_gyro_sample_perf);
/* Notify anyone waiting for data. */
DevMgr::updateNotify(*this);
if (_accel_calibration_set || _gyro_calibration_set) {
/* Notify anyone waiting for data. */
DevMgr::updateNotify(*this);
}
return 0;
};