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Moved math library to library dir, improved sensor-level HIL, cleaned up geo / conversion libs

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This commit is contained in:
Lorenz Meier
2013-08-21 18:13:01 +02:00
parent 309ea81460
commit fab110d21f
69 changed files with 216 additions and 171 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+86 -2
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@@ -50,6 +50,10 @@
#include <mqueue.h>
#include <string.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_gyro.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_baro.h>
#include <time.h>
#include <float.h>
#include <unistd.h>
@@ -101,6 +105,10 @@ static orb_advert_t pub_hil_global_pos = -1;
static orb_advert_t pub_hil_attitude = -1;
static orb_advert_t pub_hil_gps = -1;
static orb_advert_t pub_hil_sensors = -1;
static orb_advert_t pub_hil_gyro = -1;
static orb_advert_t pub_hil_accel = -1;
static orb_advert_t pub_hil_mag = -1;
static orb_advert_t pub_hil_baro = -1;
static orb_advert_t pub_hil_airspeed = -1;
static orb_advert_t cmd_pub = -1;
@@ -412,12 +420,12 @@ handle_message(mavlink_message_t *msg)
/* airspeed from differential pressure, ambient pressure and temp */
struct airspeed_s airspeed;
airspeed.timestamp = hrt_absolute_time();
float ias = calc_indicated_airspeed(imu.diff_pressure);
// XXX need to fix this
float tas = ias;
airspeed.timestamp = hrt_absolute_time();
airspeed.indicated_airspeed_m_s = ias;
airspeed.true_airspeed_m_s = tas;
@@ -428,7 +436,67 @@ handle_message(mavlink_message_t *msg)
}
//warnx("SENSOR: IAS: %6.2f TAS: %6.2f", airspeed.indicated_airspeed_m_s, airspeed.true_airspeed_m_s);
/* publish */
/* individual sensor publications */
struct gyro_report gyro;
gyro.x_raw = imu.xgyro / mrad2rad;
gyro.y_raw = imu.ygyro / mrad2rad;
gyro.z_raw = imu.zgyro / mrad2rad;
gyro.x = imu.xgyro;
gyro.y = imu.ygyro;
gyro.z = imu.zgyro;
gyro.temperature = imu.temperature;
gyro.timestamp = hrt_absolute_time();
if (pub_hil_gyro < 0) {
pub_hil_gyro = orb_advertise(ORB_ID(sensor_gyro), &gyro);
} else {
orb_publish(ORB_ID(sensor_gyro), pub_hil_gyro, &gyro);
}
struct accel_report accel;
accel.x_raw = imu.xacc / mg2ms2;
accel.y_raw = imu.yacc / mg2ms2;
accel.z_raw = imu.zacc / mg2ms2;
accel.x = imu.xacc;
accel.y = imu.yacc;
accel.z = imu.zacc;
accel.temperature = imu.temperature;
accel.timestamp = hrt_absolute_time();
if (pub_hil_accel < 0) {
pub_hil_accel = orb_advertise(ORB_ID(sensor_accel), &accel);
} else {
orb_publish(ORB_ID(sensor_accel), pub_hil_accel, &accel);
}
struct mag_report mag;
mag.x_raw = imu.xmag / mga2ga;
mag.y_raw = imu.ymag / mga2ga;
mag.z_raw = imu.zmag / mga2ga;
mag.x = imu.xmag;
mag.y = imu.ymag;
mag.z = imu.zmag;
mag.timestamp = hrt_absolute_time();
if (pub_hil_mag < 0) {
pub_hil_mag = orb_advertise(ORB_ID(sensor_mag), &mag);
} else {
orb_publish(ORB_ID(sensor_mag), pub_hil_mag, &mag);
}
struct baro_report baro;
baro.pressure = imu.abs_pressure;
baro.altitude = imu.pressure_alt;
baro.temperature = imu.temperature;
baro.timestamp = hrt_absolute_time();
if (pub_hil_baro < 0) {
pub_hil_baro = orb_advertise(ORB_ID(sensor_baro), &baro);
} else {
orb_publish(ORB_ID(sensor_baro), pub_hil_baro, &baro);
}
/* publish combined sensor topic */
if (pub_hil_sensors > 0) {
orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors);
} else {
@@ -552,6 +620,22 @@ handle_message(mavlink_message_t *msg)
} else {
pub_hil_attitude = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude);
}
struct accel_report accel;
accel.x_raw = hil_state.xacc / 9.81f * 1e3f;
accel.y_raw = hil_state.yacc / 9.81f * 1e3f;
accel.z_raw = hil_state.zacc / 9.81f * 1e3f;
accel.x = hil_state.xacc;
accel.y = hil_state.yacc;
accel.z = hil_state.zacc;
accel.temperature = 25.0f;
accel.timestamp = hrt_absolute_time();
if (pub_hil_accel < 0) {
pub_hil_accel = orb_advertise(ORB_ID(sensor_accel), &accel);
} else {
orb_publish(ORB_ID(sensor_accel), pub_hil_accel, &accel);
}
}
if (msg->msgid == MAVLINK_MSG_ID_MANUAL_CONTROL) {