/**************************************************************************** * * Copyright (c) 2012-2016 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. * ****************************************************************************/ /** * @file sensors.cpp * * PX4 Flight Core transitional mapping layer. * * This app / class mapps the PX4 middleware layer / drivers to the application * layer of the PX4 Flight Core. Individual sensors can be accessed directly as * well instead of relying on the sensor_combined topic. * * @author Lorenz Meier * @author Julian Oes * @author Thomas Gubler * @author Anton Babushkin */ #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "DevMgr.hpp" using namespace DriverFramework; /** * Analog layout: * FMU: * IN2 - battery voltage * IN3 - battery current * IN4 - 5V sense * IN10 - spare (we could actually trim these from the set) * IN11 - spare (we could actually trim these from the set) * IN12 - spare (we could actually trim these from the set) * IN13 - aux1 * IN14 - aux2 * IN15 - pressure sensor * * IO: * IN4 - servo supply rail * IN5 - analog RSSI * * The channel definitions (e.g., ADC_BATTERY_VOLTAGE_CHANNEL, ADC_BATTERY_CURRENT_CHANNEL, and ADC_AIRSPEED_VOLTAGE_CHANNEL) are defined in board_config.h */ #define BATT_V_LOWPASS 0.001f #define BATT_V_IGNORE_THRESHOLD 2.1f /** * HACK - true temperature is much less than indicated temperature in baro, * subtract 5 degrees in an attempt to account for the electrical upheating of the PCB */ #define PCB_TEMP_ESTIMATE_DEG 5.0f #define STICK_ON_OFF_LIMIT 0.75f #define MAG_ROT_VAL_INTERNAL -1 #define SENSOR_COUNT_MAX 3 /* oddly, ERROR is not defined for c++ */ #ifdef ERROR # undef ERROR #endif static const int ERROR = -1; #define CAL_ERROR_APPLY_CAL_MSG "FAILED APPLYING %s CAL #%u" /** * Sensor app start / stop handling function * * @ingroup apps */ extern "C" __EXPORT int sensors_main(int argc, char *argv[]); class Sensors { public: /** * Constructor */ Sensors(); /** * Destructor, also kills the sensors task. */ ~Sensors(); /** * Start the sensors task. * * @return OK on success. */ int start(); private: static const unsigned _rc_max_chan_count = input_rc_s::RC_INPUT_MAX_CHANNELS; /**< maximum number of r/c channels we handle */ /** * Get and limit value for specified RC function. Returns NAN if not mapped. */ float get_rc_value(uint8_t func, float min_value, float max_value); /** * Get switch position for specified function. */ switch_pos_t get_rc_sw3pos_position(uint8_t func, float on_th, bool on_inv, float mid_th, bool mid_inv); switch_pos_t get_rc_sw2pos_position(uint8_t func, float on_th, bool on_inv); /** * Update parameters from RC channels if the functionality is activated and the * input has changed since the last update * * @param */ void set_params_from_rc(); /** * Gather and publish RC input data. */ void rc_poll(); /* XXX should not be here - should be own driver */ DevHandle _h_adc; /**< ADC driver handle */ hrt_abstime _last_adc; /**< last time we took input from the ADC */ bool _task_should_exit; /**< if true, sensor task should exit */ int _sensors_task; /**< task handle for sensor task */ bool _hil_enabled; /**< if true, HIL is active */ bool _publishing; /**< if true, we are publishing sensor data */ bool _armed; /**< arming status of the vehicle */ int _gyro_sub[SENSOR_COUNT_MAX]; /**< raw gyro data subscription */ int _accel_sub[SENSOR_COUNT_MAX]; /**< raw accel data subscription */ int _mag_sub[SENSOR_COUNT_MAX]; /**< raw mag data subscription */ int _baro_sub[SENSOR_COUNT_MAX]; /**< raw baro data subscription */ unsigned _gyro_count; /**< raw gyro data count */ unsigned _accel_count; /**< raw accel data count */ unsigned _mag_count; /**< raw mag data count */ unsigned _baro_count; /**< raw baro data count */ int _rc_sub; /**< raw rc channels data subscription */ int _diff_pres_sub; /**< raw differential pressure subscription */ int _vcontrol_mode_sub; /**< vehicle control mode subscription */ int _params_sub; /**< notification of parameter updates */ int _rc_parameter_map_sub; /**< rc parameter map subscription */ int _manual_control_sub; /**< notification of manual control updates */ orb_advert_t _sensor_pub; /**< combined sensor data topic */ orb_advert_t _manual_control_pub; /**< manual control signal topic */ orb_advert_t _actuator_group_3_pub; /**< manual control as actuator topic */ orb_advert_t _rc_pub; /**< raw r/c control topic */ orb_advert_t _battery_pub; /**< battery status */ orb_advert_t _airspeed_pub; /**< airspeed */ orb_advert_t _diff_pres_pub; /**< differential_pressure */ perf_counter_t _loop_perf; /**< loop performance counter */ DataValidator _airspeed_validator; /**< data validator to monitor airspeed */ struct rc_channels_s _rc; /**< r/c channel data */ struct battery_status_s _battery_status; /**< battery status */ struct baro_report _barometer; /**< barometer data */ struct differential_pressure_s _diff_pres; struct airspeed_s _airspeed; struct rc_parameter_map_s _rc_parameter_map; float _param_rc_values[rc_parameter_map_s::RC_PARAM_MAP_NCHAN]; /**< parameter values for RC control */ math::Matrix<3, 3> _board_rotation; /**< rotation matrix for the orientation that the board is mounted */ math::Matrix<3, 3> _mag_rotation[3]; /**< rotation matrix for the orientation that the external mag0 is mounted */ uint64_t _battery_discharged; /**< battery discharged current in mA*ms */ hrt_abstime _battery_current_timestamp; /**< timestamp of last battery current reading */ struct { float min[_rc_max_chan_count]; float trim[_rc_max_chan_count]; float max[_rc_max_chan_count]; float rev[_rc_max_chan_count]; float dz[_rc_max_chan_count]; float scaling_factor[_rc_max_chan_count]; float diff_pres_offset_pa; float diff_pres_analog_scale; int board_rotation; int flow_rotation; float board_offset[3]; int rc_map_roll; int rc_map_pitch; int rc_map_yaw; int rc_map_throttle; int rc_map_failsafe; int rc_map_mode_sw; int rc_map_return_sw; int rc_map_rattitude_sw; int rc_map_posctl_sw; int rc_map_loiter_sw; int rc_map_acro_sw; int rc_map_offboard_sw; int rc_map_kill_sw; int rc_map_flaps; int rc_map_aux1; int rc_map_aux2; int rc_map_aux3; int rc_map_aux4; int rc_map_aux5; int rc_map_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN]; int32_t rc_fails_thr; float rc_assist_th; float rc_auto_th; float rc_rattitude_th; float rc_posctl_th; float rc_return_th; float rc_loiter_th; float rc_acro_th; float rc_offboard_th; float rc_killswitch_th; bool rc_assist_inv; bool rc_auto_inv; bool rc_rattitude_inv; bool rc_posctl_inv; bool rc_return_inv; bool rc_loiter_inv; bool rc_acro_inv; bool rc_offboard_inv; bool rc_killswitch_inv; float battery_voltage_scaling; float battery_current_scaling; float baro_qnh; } _parameters; /**< local copies of interesting parameters */ struct { param_t min[_rc_max_chan_count]; param_t trim[_rc_max_chan_count]; param_t max[_rc_max_chan_count]; param_t rev[_rc_max_chan_count]; param_t dz[_rc_max_chan_count]; param_t diff_pres_offset_pa; param_t diff_pres_analog_scale; param_t rc_map_roll; param_t rc_map_pitch; param_t rc_map_yaw; param_t rc_map_throttle; param_t rc_map_failsafe; param_t rc_map_mode_sw; param_t rc_map_return_sw; param_t rc_map_rattitude_sw; param_t rc_map_posctl_sw; param_t rc_map_loiter_sw; param_t rc_map_acro_sw; param_t rc_map_offboard_sw; param_t rc_map_kill_sw; param_t rc_map_flaps; param_t rc_map_aux1; param_t rc_map_aux2; param_t rc_map_aux3; param_t rc_map_aux4; param_t rc_map_aux5; param_t rc_map_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN]; param_t rc_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN]; /**< param handles for the parameters which are bound to a RC channel, equivalent float values in the _parameters struct are not existing because these parameters are never read. */ param_t rc_fails_thr; param_t rc_assist_th; param_t rc_auto_th; param_t rc_rattitude_th; param_t rc_posctl_th; param_t rc_return_th; param_t rc_loiter_th; param_t rc_acro_th; param_t rc_offboard_th; param_t rc_killswitch_th; param_t battery_voltage_scaling; param_t battery_current_scaling; param_t board_rotation; param_t flow_rotation; param_t board_offset[3]; param_t baro_qnh; } _parameter_handles; /**< handles for interesting parameters */ int init_sensor_class(const struct orb_metadata *meta, int *subs, uint32_t *priorities, uint32_t *errcount); /** * Update our local parameter cache. */ int parameters_update(); /** * Do accel-related initialisation. */ int accel_init(); /** * Do gyro-related initialisation. */ int gyro_init(); /** * Do mag-related initialisation. */ int mag_init(); /** * Do baro-related initialisation. */ int baro_init(); /** * Do adc-related initialisation. */ int adc_init(); /** * Poll the accelerometer for updated data. * * @param raw Combined sensor data structure into which * data should be returned. */ void accel_poll(struct sensor_combined_s &raw); /** * Poll the gyro for updated data. * * @param raw Combined sensor data structure into which * data should be returned. */ void gyro_poll(struct sensor_combined_s &raw); /** * Poll the magnetometer for updated data. * * @param raw Combined sensor data structure into which * data should be returned. */ void mag_poll(struct sensor_combined_s &raw); /** * Poll the barometer for updated data. * * @param raw Combined sensor data structure into which * data should be returned. */ void baro_poll(struct sensor_combined_s &raw); /** * Poll the differential pressure sensor for updated data. * * @param raw Combined sensor data structure into which * data should be returned. */ void diff_pres_poll(struct sensor_combined_s &raw); /** * Check for changes in vehicle control mode. */ void vehicle_control_mode_poll(); /** * Check for changes in parameters. */ void parameter_update_poll(bool forced = false); /** * Check for changes in rc_parameter_map */ void rc_parameter_map_poll(bool forced = false); /** * Poll the ADC and update readings to suit. * * @param raw Combined sensor data structure into which * data should be returned. */ void adc_poll(struct sensor_combined_s &raw); /** * Shim for calling task_main from task_create. */ static void task_main_trampoline(int argc, char *argv[]); /** * Main sensor collection task. */ void task_main(); }; namespace sensors { Sensors *g_sensors = nullptr; } Sensors::Sensors() : _h_adc(), _last_adc(0), _task_should_exit(true), _sensors_task(-1), _hil_enabled(false), _publishing(true), _armed(false), /* subscriptions */ _gyro_sub{ -1, -1, -1}, _accel_sub{ -1, -1, -1}, _mag_sub{ -1, -1, -1}, _baro_sub{ -1, -1, -1}, _gyro_count(0), _accel_count(0), _mag_count(0), _baro_count(0), _rc_sub(-1), _vcontrol_mode_sub(-1), _params_sub(-1), _rc_parameter_map_sub(-1), _manual_control_sub(-1), /* publications */ _sensor_pub(nullptr), _manual_control_pub(nullptr), _actuator_group_3_pub(nullptr), _rc_pub(nullptr), _battery_pub(nullptr), _airspeed_pub(nullptr), _diff_pres_pub(nullptr), /* performance counters */ _loop_perf(perf_alloc(PC_ELAPSED, "sensor task update")), _airspeed_validator(), _param_rc_values{}, _board_rotation{}, _mag_rotation{}, _battery_discharged(0), _battery_current_timestamp(0) { /* initialize subscriptions */ for (unsigned i = 0; i < SENSOR_COUNT_MAX; i++) { _gyro_sub[i] = -1; _accel_sub[i] = -1; _mag_sub[i] = -1; _baro_sub[i] = -1; } memset(&_rc, 0, sizeof(_rc)); memset(&_diff_pres, 0, sizeof(_diff_pres)); memset(&_parameters, 0, sizeof(_parameters)); memset(&_rc_parameter_map, 0, sizeof(_rc_parameter_map)); /* basic r/c parameters */ for (unsigned i = 0; i < _rc_max_chan_count; i++) { char nbuf[16]; /* min values */ sprintf(nbuf, "RC%d_MIN", i + 1); _parameter_handles.min[i] = param_find(nbuf); /* trim values */ sprintf(nbuf, "RC%d_TRIM", i + 1); _parameter_handles.trim[i] = param_find(nbuf); /* max values */ sprintf(nbuf, "RC%d_MAX", i + 1); _parameter_handles.max[i] = param_find(nbuf); /* channel reverse */ sprintf(nbuf, "RC%d_REV", i + 1); _parameter_handles.rev[i] = param_find(nbuf); /* channel deadzone */ sprintf(nbuf, "RC%d_DZ", i + 1); _parameter_handles.dz[i] = param_find(nbuf); } /* mandatory input switched, mapped to channels 1-4 per default */ _parameter_handles.rc_map_roll = param_find("RC_MAP_ROLL"); _parameter_handles.rc_map_pitch = param_find("RC_MAP_PITCH"); _parameter_handles.rc_map_yaw = param_find("RC_MAP_YAW"); _parameter_handles.rc_map_throttle = param_find("RC_MAP_THROTTLE"); _parameter_handles.rc_map_failsafe = param_find("RC_MAP_FAILSAFE"); /* mandatory mode switches, mapped to channel 5 and 6 per default */ _parameter_handles.rc_map_mode_sw = param_find("RC_MAP_MODE_SW"); _parameter_handles.rc_map_return_sw = param_find("RC_MAP_RETURN_SW"); _parameter_handles.rc_map_flaps = param_find("RC_MAP_FLAPS"); /* optional mode switches, not mapped per default */ _parameter_handles.rc_map_rattitude_sw = param_find("RC_MAP_RATT_SW"); _parameter_handles.rc_map_posctl_sw = param_find("RC_MAP_POSCTL_SW"); _parameter_handles.rc_map_loiter_sw = param_find("RC_MAP_LOITER_SW"); _parameter_handles.rc_map_acro_sw = param_find("RC_MAP_ACRO_SW"); _parameter_handles.rc_map_offboard_sw = param_find("RC_MAP_OFFB_SW"); _parameter_handles.rc_map_kill_sw = param_find("RC_MAP_KILL_SW"); _parameter_handles.rc_map_aux1 = param_find("RC_MAP_AUX1"); _parameter_handles.rc_map_aux2 = param_find("RC_MAP_AUX2"); _parameter_handles.rc_map_aux3 = param_find("RC_MAP_AUX3"); _parameter_handles.rc_map_aux4 = param_find("RC_MAP_AUX4"); _parameter_handles.rc_map_aux5 = param_find("RC_MAP_AUX5"); /* RC to parameter mapping for changing parameters with RC */ for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) { char name[rc_parameter_map_s::PARAM_ID_LEN]; snprintf(name, rc_parameter_map_s::PARAM_ID_LEN, "RC_MAP_PARAM%d", i + 1); // shifted by 1 because param name starts at 1 _parameter_handles.rc_map_param[i] = param_find(name); } /* RC thresholds */ _parameter_handles.rc_fails_thr = param_find("RC_FAILS_THR"); _parameter_handles.rc_assist_th = param_find("RC_ASSIST_TH"); _parameter_handles.rc_auto_th = param_find("RC_AUTO_TH"); _parameter_handles.rc_rattitude_th = param_find("RC_RATT_TH"); _parameter_handles.rc_posctl_th = param_find("RC_POSCTL_TH"); _parameter_handles.rc_return_th = param_find("RC_RETURN_TH"); _parameter_handles.rc_loiter_th = param_find("RC_LOITER_TH"); _parameter_handles.rc_acro_th = param_find("RC_ACRO_TH"); _parameter_handles.rc_offboard_th = param_find("RC_OFFB_TH"); _parameter_handles.rc_killswitch_th = param_find("RC_KILLSWITCH_TH"); /* Differential pressure offset */ _parameter_handles.diff_pres_offset_pa = param_find("SENS_DPRES_OFF"); _parameter_handles.diff_pres_analog_scale = param_find("SENS_DPRES_ANSC"); _parameter_handles.battery_voltage_scaling = param_find("BAT_V_SCALING"); _parameter_handles.battery_current_scaling = param_find("BAT_C_SCALING"); /* rotations */ _parameter_handles.board_rotation = param_find("SENS_BOARD_ROT"); _parameter_handles.flow_rotation = param_find("SENS_FLOW_ROT"); /* rotation offsets */ _parameter_handles.board_offset[0] = param_find("SENS_BOARD_X_OFF"); _parameter_handles.board_offset[1] = param_find("SENS_BOARD_Y_OFF"); _parameter_handles.board_offset[2] = param_find("SENS_BOARD_Z_OFF"); /* Barometer QNH */ _parameter_handles.baro_qnh = param_find("SENS_BARO_QNH"); // These are parameters for which QGroundControl always expects to be returned in a list request. // We do a param_find here to force them into the list. (void)param_find("RC_CHAN_CNT"); (void)param_find("RC_TH_USER"); (void)param_find("CAL_MAG0_ID"); (void)param_find("CAL_MAG1_ID"); (void)param_find("CAL_MAG2_ID"); (void)param_find("CAL_MAG0_ROT"); (void)param_find("CAL_MAG1_ROT"); (void)param_find("CAL_MAG2_ROT"); (void)param_find("SYS_PARAM_VER"); (void)param_find("SYS_AUTOSTART"); (void)param_find("SYS_AUTOCONFIG"); (void)param_find("PWM_MIN"); (void)param_find("PWM_MAX"); (void)param_find("PWM_DISARMED"); (void)param_find("PWM_AUX_MIN"); (void)param_find("PWM_AUX_MAX"); (void)param_find("PWM_AUX_DISARMED"); (void)param_find("TRIG_MODE"); (void)param_find("UAVCAN_ENABLE"); (void)param_find("LPE_ENABLED"); /* fetch initial parameter values */ parameters_update(); } Sensors::~Sensors() { if (_sensors_task != -1) { /* task wakes up every 100ms or so at the longest */ _task_should_exit = true; /* wait for a second for the task to quit at our request */ unsigned i = 0; do { /* wait 20ms */ usleep(20000); /* if we have given up, kill it */ if (++i > 50) { px4_task_delete(_sensors_task); break; } } while (_sensors_task != -1); } sensors::g_sensors = nullptr; } int Sensors::parameters_update() { bool rc_valid = true; float tmpScaleFactor = 0.0f; float tmpRevFactor = 0.0f; /* rc values */ for (unsigned int i = 0; i < _rc_max_chan_count; i++) { param_get(_parameter_handles.min[i], &(_parameters.min[i])); param_get(_parameter_handles.trim[i], &(_parameters.trim[i])); param_get(_parameter_handles.max[i], &(_parameters.max[i])); param_get(_parameter_handles.rev[i], &(_parameters.rev[i])); param_get(_parameter_handles.dz[i], &(_parameters.dz[i])); tmpScaleFactor = (1.0f / ((_parameters.max[i] - _parameters.min[i]) / 2.0f) * _parameters.rev[i]); tmpRevFactor = tmpScaleFactor * _parameters.rev[i]; /* handle blowup in the scaling factor calculation */ if (!PX4_ISFINITE(tmpScaleFactor) || (tmpRevFactor < 0.000001f) || (tmpRevFactor > 0.2f)) { warnx("RC chan %u not sane, scaling: %8.6f, rev: %d", i, (double)tmpScaleFactor, (int)(_parameters.rev[i])); /* scaling factors do not make sense, lock them down */ _parameters.scaling_factor[i] = 0.0f; rc_valid = false; } else { _parameters.scaling_factor[i] = tmpScaleFactor; } } /* handle wrong values */ if (!rc_valid) { warnx("WARNING WARNING WARNING\n\nRC CALIBRATION NOT SANE!\n\n"); } const char *paramerr = "FAIL PARM LOAD"; /* channel mapping */ if (param_get(_parameter_handles.rc_map_roll, &(_parameters.rc_map_roll)) != OK) { warnx("%s", paramerr); } if (param_get(_parameter_handles.rc_map_pitch, &(_parameters.rc_map_pitch)) != OK) { warnx("%s", paramerr); } if (param_get(_parameter_handles.rc_map_yaw, &(_parameters.rc_map_yaw)) != OK) { warnx("%s", paramerr); } if (param_get(_parameter_handles.rc_map_throttle, &(_parameters.rc_map_throttle)) != OK) { warnx("%s", paramerr); } if (param_get(_parameter_handles.rc_map_failsafe, &(_parameters.rc_map_failsafe)) != OK) { warnx("%s", paramerr); } if (param_get(_parameter_handles.rc_map_mode_sw, &(_parameters.rc_map_mode_sw)) != OK) { warnx("%s", paramerr); } if (param_get(_parameter_handles.rc_map_return_sw, &(_parameters.rc_map_return_sw)) != OK) { warnx("%s", paramerr); } if (param_get(_parameter_handles.rc_map_rattitude_sw, &(_parameters.rc_map_rattitude_sw)) != OK) { warnx("%s", paramerr); } if (param_get(_parameter_handles.rc_map_posctl_sw, &(_parameters.rc_map_posctl_sw)) != OK) { warnx("%s", paramerr); } if (param_get(_parameter_handles.rc_map_loiter_sw, &(_parameters.rc_map_loiter_sw)) != OK) { warnx("%s", paramerr); } if (param_get(_parameter_handles.rc_map_acro_sw, &(_parameters.rc_map_acro_sw)) != OK) { warnx("%s", paramerr); } if (param_get(_parameter_handles.rc_map_offboard_sw, &(_parameters.rc_map_offboard_sw)) != OK) { warnx("%s", paramerr); } if (param_get(_parameter_handles.rc_map_kill_sw, &(_parameters.rc_map_kill_sw)) != OK) { warnx("%s", paramerr); } if (param_get(_parameter_handles.rc_map_flaps, &(_parameters.rc_map_flaps)) != OK) { warnx("%s", paramerr); } param_get(_parameter_handles.rc_map_aux1, &(_parameters.rc_map_aux1)); param_get(_parameter_handles.rc_map_aux2, &(_parameters.rc_map_aux2)); param_get(_parameter_handles.rc_map_aux3, &(_parameters.rc_map_aux3)); param_get(_parameter_handles.rc_map_aux4, &(_parameters.rc_map_aux4)); param_get(_parameter_handles.rc_map_aux5, &(_parameters.rc_map_aux5)); for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) { param_get(_parameter_handles.rc_map_param[i], &(_parameters.rc_map_param[i])); } param_get(_parameter_handles.rc_fails_thr, &(_parameters.rc_fails_thr)); param_get(_parameter_handles.rc_assist_th, &(_parameters.rc_assist_th)); _parameters.rc_assist_inv = (_parameters.rc_assist_th < 0); _parameters.rc_assist_th = fabs(_parameters.rc_assist_th); param_get(_parameter_handles.rc_auto_th, &(_parameters.rc_auto_th)); _parameters.rc_auto_inv = (_parameters.rc_auto_th < 0); _parameters.rc_auto_th = fabs(_parameters.rc_auto_th); param_get(_parameter_handles.rc_rattitude_th, &(_parameters.rc_rattitude_th)); _parameters.rc_rattitude_inv = (_parameters.rc_rattitude_th < 0); _parameters.rc_rattitude_th = fabs(_parameters.rc_rattitude_th); param_get(_parameter_handles.rc_posctl_th, &(_parameters.rc_posctl_th)); _parameters.rc_posctl_inv = (_parameters.rc_posctl_th < 0); _parameters.rc_posctl_th = fabs(_parameters.rc_posctl_th); param_get(_parameter_handles.rc_return_th, &(_parameters.rc_return_th)); _parameters.rc_return_inv = (_parameters.rc_return_th < 0); _parameters.rc_return_th = fabs(_parameters.rc_return_th); param_get(_parameter_handles.rc_loiter_th, &(_parameters.rc_loiter_th)); _parameters.rc_loiter_inv = (_parameters.rc_loiter_th < 0); _parameters.rc_loiter_th = fabs(_parameters.rc_loiter_th); param_get(_parameter_handles.rc_acro_th, &(_parameters.rc_acro_th)); _parameters.rc_acro_inv = (_parameters.rc_acro_th < 0); _parameters.rc_acro_th = fabs(_parameters.rc_acro_th); param_get(_parameter_handles.rc_offboard_th, &(_parameters.rc_offboard_th)); _parameters.rc_offboard_inv = (_parameters.rc_offboard_th < 0); _parameters.rc_offboard_th = fabs(_parameters.rc_offboard_th); param_get(_parameter_handles.rc_killswitch_th, &(_parameters.rc_killswitch_th)); _parameters.rc_killswitch_inv = (_parameters.rc_killswitch_th < 0); _parameters.rc_killswitch_th = fabs(_parameters.rc_killswitch_th); /* update RC function mappings */ _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_THROTTLE] = _parameters.rc_map_throttle - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_ROLL] = _parameters.rc_map_roll - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PITCH] = _parameters.rc_map_pitch - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_YAW] = _parameters.rc_map_yaw - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_MODE] = _parameters.rc_map_mode_sw - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_RETURN] = _parameters.rc_map_return_sw - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_RATTITUDE] = _parameters.rc_map_rattitude_sw - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_POSCTL] = _parameters.rc_map_posctl_sw - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_LOITER] = _parameters.rc_map_loiter_sw - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_ACRO] = _parameters.rc_map_acro_sw - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_OFFBOARD] = _parameters.rc_map_offboard_sw - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_KILLSWITCH] = _parameters.rc_map_kill_sw - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_FLAPS] = _parameters.rc_map_flaps - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_1] = _parameters.rc_map_aux1 - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_2] = _parameters.rc_map_aux2 - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_3] = _parameters.rc_map_aux3 - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_4] = _parameters.rc_map_aux4 - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_5] = _parameters.rc_map_aux5 - 1; for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) { _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i] = _parameters.rc_map_param[i] - 1; } /* Airspeed offset */ param_get(_parameter_handles.diff_pres_offset_pa, &(_parameters.diff_pres_offset_pa)); param_get(_parameter_handles.diff_pres_analog_scale, &(_parameters.diff_pres_analog_scale)); /* scaling of ADC ticks to battery voltage */ if (param_get(_parameter_handles.battery_voltage_scaling, &(_parameters.battery_voltage_scaling)) != OK) { warnx("%s", paramerr); } else if (_parameters.battery_voltage_scaling < 0.0f) { /* apply scaling according to defaults if set to default */ #if defined (CONFIG_ARCH_BOARD_PX4FMU_V4) _parameters.battery_voltage_scaling = 0.011f; #elif defined (CONFIG_ARCH_BOARD_PX4FMU_V2) _parameters.battery_voltage_scaling = 0.0082f; #elif defined (CONFIG_ARCH_BOARD_AEROCORE) _parameters.battery_voltage_scaling = 0.0063f; #elif defined (CONFIG_ARCH_BOARD_PX4FMU_V1) _parameters.battery_voltage_scaling = 0.00459340659f; #else /* ensure a missing default trips a low voltage lockdown */ _parameters.battery_voltage_scaling = 0.00001f; #endif } /* scaling of ADC ticks to battery current */ if (param_get(_parameter_handles.battery_current_scaling, &(_parameters.battery_current_scaling)) != OK) { warnx("%s", paramerr); } else if (_parameters.battery_current_scaling < 0.0f) { /* apply scaling according to defaults if set to default */ #if defined (CONFIG_ARCH_BOARD_PX4FMU_V4) /* current scaling for ACSP4 */ _parameters.battery_current_scaling = 0.029296875f; #elif defined (CONFIG_ARCH_BOARD_PX4FMU_V2) /* current scaling for 3DR power brick */ _parameters.battery_current_scaling = 0.0124f; #elif defined (CONFIG_ARCH_BOARD_AEROCORE) _parameters.battery_current_scaling = 0.0124f; #elif defined (CONFIG_ARCH_BOARD_PX4FMU_V1) _parameters.battery_current_scaling = 0.0124f; #else /* ensure a missing default leads to an unrealistic current value */ _parameters.battery_voltage_scaling = 0.00001f; #endif } param_get(_parameter_handles.board_rotation, &(_parameters.board_rotation)); param_get(_parameter_handles.flow_rotation, &(_parameters.flow_rotation)); /* set px4flow rotation */ int flowfd; flowfd = px4_open(PX4FLOW0_DEVICE_PATH, 0); if (flowfd >= 0) { int flowret = px4_ioctl(flowfd, SENSORIOCSROTATION, _parameters.flow_rotation); if (flowret) { warnx("flow rotation could not be set"); px4_close(flowfd); return ERROR; } px4_close(flowfd); } get_rot_matrix((enum Rotation)_parameters.board_rotation, &_board_rotation); param_get(_parameter_handles.board_offset[0], &(_parameters.board_offset[0])); param_get(_parameter_handles.board_offset[1], &(_parameters.board_offset[1])); param_get(_parameter_handles.board_offset[2], &(_parameters.board_offset[2])); /** fine tune board offset on parameter update **/ math::Matrix<3, 3> board_rotation_offset; board_rotation_offset.from_euler(M_DEG_TO_RAD_F * _parameters.board_offset[0], M_DEG_TO_RAD_F * _parameters.board_offset[1], M_DEG_TO_RAD_F * _parameters.board_offset[2]); _board_rotation = board_rotation_offset * _board_rotation; /* update barometer qnh setting */ param_get(_parameter_handles.baro_qnh, &(_parameters.baro_qnh)); DevHandle h_baro; DevMgr::getHandle(BARO0_DEVICE_PATH, h_baro); #ifndef __PX4_QURT // TODO: this needs fixing for QURT if (!h_baro.isValid()) { warnx("ERROR: no barometer found on %s (%d)", BARO0_DEVICE_PATH, h_baro.getError()); return ERROR; } else { int baroret = h_baro.ioctl(BAROIOCSMSLPRESSURE, (unsigned long)(_parameters.baro_qnh * 100)); if (baroret) { warnx("qnh could not be set"); return ERROR; } } #endif return OK; } int Sensors::accel_init() { DevHandle h_accel; DevMgr::getHandle(ACCEL0_DEVICE_PATH, h_accel); if (!h_accel.isValid()) { warnx("FATAL: no accelerometer found: %s (%d)", ACCEL0_DEVICE_PATH, h_accel.getError()); return ERROR; } else { /* set the accel internal sampling rate to default rate */ h_accel.ioctl(ACCELIOCSSAMPLERATE, ACCEL_SAMPLERATE_DEFAULT); /* set the driver to poll at default rate */ h_accel.ioctl(SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT); } return OK; } int Sensors::gyro_init() { DevHandle h_gyro; DevMgr::getHandle(GYRO0_DEVICE_PATH, h_gyro); if (!h_gyro.isValid()) { warnx("FATAL: no gyro found: %s (%d)", GYRO0_DEVICE_PATH, h_gyro.getError()); return ERROR; } /* set the gyro internal sampling rate to default rate */ h_gyro.ioctl(GYROIOCSSAMPLERATE, GYRO_SAMPLERATE_DEFAULT); /* set the driver to poll at default rate */ h_gyro.ioctl(SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT); return OK; } int Sensors::mag_init() { int ret; DevHandle h_mag; DevMgr::getHandle(MAG0_DEVICE_PATH, h_mag); if (!h_mag.isValid()) { warnx("FATAL: no magnetometer found: %s (%d)", MAG0_DEVICE_PATH, h_mag.getError()); return ERROR; } /* try different mag sampling rates */ ret = h_mag.ioctl(MAGIOCSSAMPLERATE, 150); if (ret == OK) { /* set the pollrate accordingly */ h_mag.ioctl(SENSORIOCSPOLLRATE, 150); } else { ret = h_mag.ioctl(MAGIOCSSAMPLERATE, 100); /* if the slower sampling rate still fails, something is wrong */ if (ret == OK) { /* set the driver to poll also at the slower rate */ h_mag.ioctl(SENSORIOCSPOLLRATE, 100); } else { warnx("FATAL: mag sampling rate could not be set"); return ERROR; } } return OK; } int Sensors::baro_init() { DevHandle h_baro; DevMgr::getHandle(BARO0_DEVICE_PATH, h_baro); if (!h_baro.isValid()) { warnx("FATAL: No barometer found: %s (%d)", BARO0_DEVICE_PATH, h_baro.getError()); return ERROR; } /* set the driver to poll at 150Hz */ h_baro.ioctl(SENSORIOCSPOLLRATE, 150); return OK; } int Sensors::adc_init() { DevMgr::getHandle(ADC0_DEVICE_PATH, _h_adc); if (!_h_adc.isValid()) { warnx("FATAL: no ADC found: %s (%d)", ADC0_DEVICE_PATH, _h_adc.getError()); return ERROR; } return OK; } void Sensors::accel_poll(struct sensor_combined_s &raw) { for (unsigned i = 0; i < _accel_count; i++) { bool accel_updated; orb_check(_accel_sub[i], &accel_updated); if (accel_updated) { struct accel_report accel_report; orb_copy(ORB_ID(sensor_accel), _accel_sub[i], &accel_report); math::Vector<3> vect(accel_report.x, accel_report.y, accel_report.z); vect = _board_rotation * vect; raw.accelerometer_m_s2[i * 3 + 0] = vect(0); raw.accelerometer_m_s2[i * 3 + 1] = vect(1); raw.accelerometer_m_s2[i * 3 + 2] = vect(2); math::Vector<3> vect_int(accel_report.x_integral, accel_report.y_integral, accel_report.z_integral); vect_int = _board_rotation * vect_int; raw.accelerometer_integral_m_s[i * 3 + 0] = vect_int(0); raw.accelerometer_integral_m_s[i * 3 + 1] = vect_int(1); raw.accelerometer_integral_m_s[i * 3 + 2] = vect_int(2); raw.accelerometer_integral_dt[i] = accel_report.integral_dt; raw.accelerometer_raw[i * 3 + 0] = accel_report.x_raw; raw.accelerometer_raw[i * 3 + 1] = accel_report.y_raw; raw.accelerometer_raw[i * 3 + 2] = accel_report.z_raw; raw.accelerometer_timestamp[i] = accel_report.timestamp; raw.accelerometer_errcount[i] = accel_report.error_count; raw.accelerometer_temp[i] = accel_report.temperature; } } } void Sensors::gyro_poll(struct sensor_combined_s &raw) { for (unsigned i = 0; i < _gyro_count; i++) { bool gyro_updated; orb_check(_gyro_sub[i], &gyro_updated); if (gyro_updated) { struct gyro_report gyro_report; orb_copy(ORB_ID(sensor_gyro), _gyro_sub[i], &gyro_report); math::Vector<3> vect(gyro_report.x, gyro_report.y, gyro_report.z); vect = _board_rotation * vect; raw.gyro_rad_s[i * 3 + 0] = vect(0); raw.gyro_rad_s[i * 3 + 1] = vect(1); raw.gyro_rad_s[i * 3 + 2] = vect(2); math::Vector<3> vect_int(gyro_report.x_integral, gyro_report.y_integral, gyro_report.z_integral); vect_int = _board_rotation * vect_int; raw.gyro_integral_rad[i * 3 + 0] = vect_int(0); raw.gyro_integral_rad[i * 3 + 1] = vect_int(1); raw.gyro_integral_rad[i * 3 + 2] = vect_int(2); raw.gyro_integral_dt[i] = gyro_report.integral_dt; raw.gyro_raw[i * 3 + 0] = gyro_report.x_raw; raw.gyro_raw[i * 3 + 1] = gyro_report.y_raw; raw.gyro_raw[i * 3 + 2] = gyro_report.z_raw; raw.gyro_timestamp[i] = gyro_report.timestamp; if (i == 0) { raw.timestamp = gyro_report.timestamp; } raw.gyro_errcount[i] = gyro_report.error_count; raw.gyro_temp[i] = gyro_report.temperature; } } } void Sensors::mag_poll(struct sensor_combined_s &raw) { for (unsigned i = 0; i < _mag_count; i++) { bool mag_updated; orb_check(_mag_sub[i], &mag_updated); if (mag_updated) { struct mag_report mag_report; orb_copy(ORB_ID(sensor_mag), _mag_sub[i], &mag_report); math::Vector<3> vect(mag_report.x, mag_report.y, mag_report.z); vect = _mag_rotation[i] * vect; raw.magnetometer_ga[i * 3 + 0] = vect(0); raw.magnetometer_ga[i * 3 + 1] = vect(1); raw.magnetometer_ga[i * 3 + 2] = vect(2); raw.magnetometer_raw[i * 3 + 0] = mag_report.x_raw; raw.magnetometer_raw[i * 3 + 1] = mag_report.y_raw; raw.magnetometer_raw[i * 3 + 2] = mag_report.z_raw; raw.magnetometer_timestamp[i] = mag_report.timestamp; raw.magnetometer_errcount[i] = mag_report.error_count; raw.magnetometer_temp[i] = mag_report.temperature; } } } void Sensors::baro_poll(struct sensor_combined_s &raw) { for (unsigned i = 0; i < _baro_count; i++) { bool baro_updated; orb_check(_baro_sub[i], &baro_updated); if (baro_updated) { orb_copy(ORB_ID(sensor_baro), _baro_sub[i], &_barometer); raw.baro_pres_mbar[i] = _barometer.pressure; // Pressure in mbar raw.baro_alt_meter[i] = _barometer.altitude; // Altitude in meters raw.baro_temp_celcius[i] = _barometer.temperature; // Temperature in degrees celcius raw.baro_timestamp[i] = _barometer.timestamp; } } } void Sensors::diff_pres_poll(struct sensor_combined_s &raw) { bool updated; orb_check(_diff_pres_sub, &updated); if (updated) { orb_copy(ORB_ID(differential_pressure), _diff_pres_sub, &_diff_pres); raw.differential_pressure_pa[0] = _diff_pres.differential_pressure_raw_pa; raw.differential_pressure_timestamp[0] = _diff_pres.timestamp; raw.differential_pressure_filtered_pa[0] = _diff_pres.differential_pressure_filtered_pa; float air_temperature_celsius = (_diff_pres.temperature > -300.0f) ? _diff_pres.temperature : (raw.baro_temp_celcius[0] - PCB_TEMP_ESTIMATE_DEG); _airspeed.timestamp = _diff_pres.timestamp; /* push data into validator */ _airspeed_validator.put(_airspeed.timestamp, _diff_pres.differential_pressure_raw_pa, _diff_pres.error_count, 100); #ifdef __PX4_POSIX _airspeed.confidence = 1.0f; #else _airspeed.confidence = _airspeed_validator.confidence(hrt_absolute_time()); #endif /* don't risk to feed negative airspeed into the system */ _airspeed.indicated_airspeed_m_s = math::max(0.0f, calc_indicated_airspeed(_diff_pres.differential_pressure_filtered_pa)); _airspeed.true_airspeed_m_s = math::max(0.0f, calc_true_airspeed(_diff_pres.differential_pressure_filtered_pa + raw.baro_pres_mbar[0] * 1e2f, raw.baro_pres_mbar[0] * 1e2f, air_temperature_celsius)); _airspeed.true_airspeed_unfiltered_m_s = math::max(0.0f, calc_true_airspeed(_diff_pres.differential_pressure_raw_pa + raw.baro_pres_mbar[0] * 1e2f, raw.baro_pres_mbar[0] * 1e2f, air_temperature_celsius)); _airspeed.air_temperature_celsius = air_temperature_celsius; /* announce the airspeed if needed, just publish else */ if (_airspeed_pub != nullptr) { orb_publish(ORB_ID(airspeed), _airspeed_pub, &_airspeed); } else { _airspeed_pub = orb_advertise(ORB_ID(airspeed), &_airspeed); } } } void Sensors::vehicle_control_mode_poll() { struct vehicle_control_mode_s vcontrol_mode; bool vcontrol_mode_updated; /* Check HIL state if vehicle control mode has changed */ orb_check(_vcontrol_mode_sub, &vcontrol_mode_updated); if (vcontrol_mode_updated) { orb_copy(ORB_ID(vehicle_control_mode), _vcontrol_mode_sub, &vcontrol_mode); /* switching from non-HIL to HIL mode */ if (vcontrol_mode.flag_system_hil_enabled && !_hil_enabled) { _hil_enabled = true; _publishing = false; _armed = vcontrol_mode.flag_armed; /* switching from HIL to non-HIL mode */ } else if (!_publishing && !_hil_enabled) { _hil_enabled = false; _publishing = true; _armed = vcontrol_mode.flag_armed; } } } void Sensors::parameter_update_poll(bool forced) { bool param_updated = false; /* Check if any parameter has changed */ orb_check(_params_sub, ¶m_updated); if (param_updated || forced) { /* read from param to clear updated flag */ struct parameter_update_s update; orb_copy(ORB_ID(parameter_update), _params_sub, &update); /* update parameters */ parameters_update(); /* set offset parameters to new values */ bool failed; int res; char str[30]; unsigned mag_count = 0; unsigned gyro_count = 0; unsigned accel_count = 0; /* run through all gyro sensors */ for (unsigned s = 0; s < SENSOR_COUNT_MAX; s++) { res = ERROR; (void)sprintf(str, "%s%u", GYRO_BASE_DEVICE_PATH, s); DevHandle h; DevMgr::getHandle(str, h); if (!h.isValid()) { continue; } bool config_ok = false; /* run through all stored calibrations */ for (unsigned i = 0; i < SENSOR_COUNT_MAX; i++) { /* initially status is ok per config */ failed = false; (void)sprintf(str, "CAL_GYRO%u_ID", i); int device_id; failed = failed || (OK != param_get(param_find(str), &device_id)); if (failed) { DevMgr::releaseHandle(h); continue; } //int id = h.ioctl(DEVIOCGDEVICEID, 0); //PX4_WARN("sensors: device ID: %s: %d, %u", str, id, (unsigned)id); /* if the calibration is for this device, apply it */ if (device_id == h.ioctl(DEVIOCGDEVICEID, 0)) { struct gyro_scale gscale = {}; (void)sprintf(str, "CAL_GYRO%u_XOFF", i); failed = failed || (OK != param_get(param_find(str), &gscale.x_offset)); (void)sprintf(str, "CAL_GYRO%u_YOFF", i); failed = failed || (OK != param_get(param_find(str), &gscale.y_offset)); (void)sprintf(str, "CAL_GYRO%u_ZOFF", i); failed = failed || (OK != param_get(param_find(str), &gscale.z_offset)); (void)sprintf(str, "CAL_GYRO%u_XSCALE", i); failed = failed || (OK != param_get(param_find(str), &gscale.x_scale)); (void)sprintf(str, "CAL_GYRO%u_YSCALE", i); failed = failed || (OK != param_get(param_find(str), &gscale.y_scale)); (void)sprintf(str, "CAL_GYRO%u_ZSCALE", i); failed = failed || (OK != param_get(param_find(str), &gscale.z_scale)); if (failed) { warnx(CAL_ERROR_APPLY_CAL_MSG, "gyro", i); } else { /* apply new scaling and offsets */ res = h.ioctl(GYROIOCSSCALE, (long unsigned int)&gscale); if (res) { warnx(CAL_ERROR_APPLY_CAL_MSG, "gyro", i); } else { config_ok = true; } } break; } } if (config_ok) { gyro_count++; } } /* run through all accel sensors */ for (unsigned s = 0; s < SENSOR_COUNT_MAX; s++) { res = ERROR; (void)sprintf(str, "%s%u", ACCEL_BASE_DEVICE_PATH, s); DevHandle h; DevMgr::getHandle(str, h); if (!h.isValid()) { continue; } bool config_ok = false; /* run through all stored calibrations */ for (unsigned i = 0; i < SENSOR_COUNT_MAX; i++) { /* initially status is ok per config */ failed = false; (void)sprintf(str, "CAL_ACC%u_ID", i); int device_id; failed = failed || (OK != param_get(param_find(str), &device_id)); if (failed) { DevMgr::releaseHandle(h); continue; } // int id = h.ioctl(DEVIOCGDEVICEID, 0); // PX4_WARN("sensors: device ID: %s: %d, %u", str, id, (unsigned)id); /* if the calibration is for this device, apply it */ if (device_id == h.ioctl(DEVIOCGDEVICEID, 0)) { struct accel_scale gscale = {}; (void)sprintf(str, "CAL_ACC%u_XOFF", i); failed = failed || (OK != param_get(param_find(str), &gscale.x_offset)); (void)sprintf(str, "CAL_ACC%u_YOFF", i); failed = failed || (OK != param_get(param_find(str), &gscale.y_offset)); (void)sprintf(str, "CAL_ACC%u_ZOFF", i); failed = failed || (OK != param_get(param_find(str), &gscale.z_offset)); (void)sprintf(str, "CAL_ACC%u_XSCALE", i); failed = failed || (OK != param_get(param_find(str), &gscale.x_scale)); (void)sprintf(str, "CAL_ACC%u_YSCALE", i); failed = failed || (OK != param_get(param_find(str), &gscale.y_scale)); (void)sprintf(str, "CAL_ACC%u_ZSCALE", i); failed = failed || (OK != param_get(param_find(str), &gscale.z_scale)); if (failed) { warnx(CAL_ERROR_APPLY_CAL_MSG, "accel", i); } else { /* apply new scaling and offsets */ res = h.ioctl(ACCELIOCSSCALE, (long unsigned int)&gscale); if (res) { warnx(CAL_ERROR_APPLY_CAL_MSG, "accel", i); } else { config_ok = true; } } break; } } if (config_ok) { accel_count++; } } /* run through all mag sensors */ for (unsigned s = 0; s < SENSOR_COUNT_MAX; s++) { /* set a valid default rotation (same as board). * if the mag is configured, this might be replaced * in the section below. */ _mag_rotation[s] = _board_rotation; res = ERROR; (void)sprintf(str, "%s%u", MAG_BASE_DEVICE_PATH, s); DevHandle h; DevMgr::getHandle(str, h); if (!h.isValid()) { /* the driver is not running, abort */ continue; } bool config_ok = false; /* run through all stored calibrations */ for (unsigned i = 0; i < SENSOR_COUNT_MAX; i++) { /* initially status is ok per config */ failed = false; (void)sprintf(str, "CAL_MAG%u_ID", i); int device_id; failed = failed || (OK != param_get(param_find(str), &device_id)); (void)sprintf(str, "CAL_MAG%u_ROT", i); (void)param_find(str); if (failed) { DevMgr::releaseHandle(h); continue; } // int id = h.ioctl(DEVIOCGDEVICEID, 0); // PX4_WARN("sensors: device ID: %s: %d, %u", str, id, (unsigned)id); /* if the calibration is for this device, apply it */ if (device_id == h.ioctl(DEVIOCGDEVICEID, 0)) { struct mag_scale gscale = {}; (void)sprintf(str, "CAL_MAG%u_XOFF", i); failed = failed || (OK != param_get(param_find(str), &gscale.x_offset)); (void)sprintf(str, "CAL_MAG%u_YOFF", i); failed = failed || (OK != param_get(param_find(str), &gscale.y_offset)); (void)sprintf(str, "CAL_MAG%u_ZOFF", i); failed = failed || (OK != param_get(param_find(str), &gscale.z_offset)); (void)sprintf(str, "CAL_MAG%u_XSCALE", i); failed = failed || (OK != param_get(param_find(str), &gscale.x_scale)); (void)sprintf(str, "CAL_MAG%u_YSCALE", i); failed = failed || (OK != param_get(param_find(str), &gscale.y_scale)); (void)sprintf(str, "CAL_MAG%u_ZSCALE", i); failed = failed || (OK != param_get(param_find(str), &gscale.z_scale)); (void)sprintf(str, "CAL_MAG%u_ROT", i); if (h.ioctl(MAGIOCGEXTERNAL, 0) <= 0) { /* mag is internal */ _mag_rotation[s] = _board_rotation; /* reset param to -1 to indicate internal mag */ int32_t minus_one; param_get(param_find(str), &minus_one); if (minus_one != MAG_ROT_VAL_INTERNAL) { minus_one = MAG_ROT_VAL_INTERNAL; param_set_no_notification(param_find(str), &minus_one); } } else { int32_t mag_rot; param_get(param_find(str), &mag_rot); /* check if this mag is still set as internal */ if (mag_rot < 0) { /* it was marked as internal, change to external with no rotation */ mag_rot = 0; param_set_no_notification(param_find(str), &mag_rot); } /* handling of old setups, will be removed later (noted Feb 2015) */ int32_t deprecated_mag_rot = 0; param_get(param_find("SENS_EXT_MAG_ROT"), &deprecated_mag_rot); /* * If the deprecated parameter is non-default (is != 0), * and the new parameter is default (is == 0), then this board * was configured already and we need to copy the old value * to the new parameter. * The < 0 case is special: It means that this param slot was * used previously by an internal sensor, but the the call above * proved that it is currently occupied by an external sensor. * In that case we consider the orientation to be default as well. */ if ((deprecated_mag_rot != 0) && (mag_rot <= 0)) { mag_rot = deprecated_mag_rot; param_set_no_notification(param_find(str), &mag_rot); /* clear the old param, not supported in GUI anyway */ deprecated_mag_rot = 0; param_set_no_notification(param_find("SENS_EXT_MAG_ROT"), &deprecated_mag_rot); } /* handling of transition from internal to external */ if (mag_rot < 0) { mag_rot = 0; } get_rot_matrix((enum Rotation)mag_rot, &_mag_rotation[s]); } if (failed) { warnx(CAL_ERROR_APPLY_CAL_MSG, "mag", i); } else { /* apply new scaling and offsets */ res = h.ioctl(MAGIOCSSCALE, (long unsigned int)&gscale); if (res) { warnx(CAL_ERROR_APPLY_CAL_MSG, "mag", i); } else { config_ok = true; } } break; } } if (config_ok) { mag_count++; } } int fd = px4_open(AIRSPEED0_DEVICE_PATH, 0); /* this sensor is optional, abort without error */ if (fd >= 0) { struct airspeed_scale airscale = { _parameters.diff_pres_offset_pa, 1.0f, }; if (OK != px4_ioctl(fd, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) { warn("WARNING: failed to set scale / offsets for airspeed sensor"); } px4_close(fd); } /* do not output this for now, as its covered in preflight checks */ // warnx("valid configs: %u gyros, %u mags, %u accels", gyro_count, mag_count, accel_count); } } void Sensors::rc_parameter_map_poll(bool forced) { bool map_updated; orb_check(_rc_parameter_map_sub, &map_updated); if (map_updated) { orb_copy(ORB_ID(rc_parameter_map), _rc_parameter_map_sub, &_rc_parameter_map); /* update parameter handles to which the RC channels are mapped */ for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) { if (_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i] < 0 || !_rc_parameter_map.valid[i]) { /* This RC channel is not mapped to a RC-Parameter Channel (e.g. RC_MAP_PARAM1 == 0) * or no request to map this channel to a param has been sent via mavlink */ continue; } /* Set the handle by index if the index is set, otherwise use the id */ if (_rc_parameter_map.param_index[i] >= 0) { _parameter_handles.rc_param[i] = param_for_used_index((unsigned)_rc_parameter_map.param_index[i]); } else { _parameter_handles.rc_param[i] = param_find(&_rc_parameter_map.param_id[i * (rc_parameter_map_s::PARAM_ID_LEN + 1)]); } } warnx("rc to parameter map updated"); for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) { warnx("\ti %d param_id %s scale %.3f value0 %.3f, min %.3f, max %.3f", i, &_rc_parameter_map.param_id[i * (rc_parameter_map_s::PARAM_ID_LEN + 1)], (double)_rc_parameter_map.scale[i], (double)_rc_parameter_map.value0[i], (double)_rc_parameter_map.value_min[i], (double)_rc_parameter_map.value_max[i] ); } } } void Sensors::adc_poll(struct sensor_combined_s &raw) { /* only read if publishing */ if (!_publishing) { return; } hrt_abstime t = hrt_absolute_time(); /* rate limit to 100 Hz */ if (t - _last_adc >= 10000) { /* make space for a maximum of twelve channels (to ensure reading all channels at once) */ struct adc_msg_s buf_adc[12]; /* read all channels available */ int ret = _h_adc.read(&buf_adc, sizeof(buf_adc)); if (ret >= (int)sizeof(buf_adc[0])) { /* Read add channels we got */ for (unsigned i = 0; i < ret / sizeof(buf_adc[0]); i++) { /* Save raw voltage values */ if (i < (sizeof(raw.adc_voltage_v) / sizeof(raw.adc_voltage_v[0]))) { raw.adc_voltage_v[i] = buf_adc[i].am_data / (4096.0f / 3.3f); raw.adc_mapping[i] = buf_adc[i].am_channel; } /* look for specific channels and process the raw voltage to measurement data */ if (ADC_BATTERY_VOLTAGE_CHANNEL == buf_adc[i].am_channel) { /* Voltage in volts */ float voltage = (buf_adc[i].am_data * _parameters.battery_voltage_scaling); if (voltage > BATT_V_IGNORE_THRESHOLD) { _battery_status.voltage_v = voltage; /* one-time initialization of low-pass value to avoid long init delays */ if (_battery_status.voltage_filtered_v < BATT_V_IGNORE_THRESHOLD) { _battery_status.voltage_filtered_v = voltage; } _battery_status.timestamp = t; _battery_status.voltage_filtered_v += (voltage - _battery_status.voltage_filtered_v) * BATT_V_LOWPASS; } else { /* mark status as invalid */ _battery_status.voltage_v = -1.0f; _battery_status.voltage_filtered_v = -1.0f; } } else if (ADC_BATTERY_CURRENT_CHANNEL == buf_adc[i].am_channel) { /* handle current only if voltage is valid */ if (_battery_status.voltage_v > 0.0f) { float current = (buf_adc[i].am_data * _parameters.battery_current_scaling); /* check measured current value */ if (current >= 0.0f) { _battery_status.timestamp = t; _battery_status.current_a = current; if (_battery_current_timestamp != 0) { /* initialize discharged value */ if (_battery_status.discharged_mah < 0.0f) { _battery_status.discharged_mah = 0.0f; } _battery_discharged += current * (t - _battery_current_timestamp); _battery_status.discharged_mah = ((float) _battery_discharged) / 3600000.0f; } } } _battery_current_timestamp = t; #ifdef ADC_AIRSPEED_VOLTAGE_CHANNEL } else if (ADC_AIRSPEED_VOLTAGE_CHANNEL == buf_adc[i].am_channel) { /* calculate airspeed, raw is the difference from */ float voltage = (float)(buf_adc[i].am_data) * 3.3f / 4096.0f * 2.0f; // V_ref/4096 * (voltage divider factor) /** * The voltage divider pulls the signal down, only act on * a valid voltage from a connected sensor. Also assume a non- * zero offset from the sensor if its connected. */ if (voltage > 0.4f && (_parameters.diff_pres_analog_scale > 0.0f)) { float diff_pres_pa_raw = voltage * _parameters.diff_pres_analog_scale - _parameters.diff_pres_offset_pa; _diff_pres.timestamp = t; _diff_pres.differential_pressure_raw_pa = diff_pres_pa_raw; _diff_pres.differential_pressure_filtered_pa = (_diff_pres.differential_pressure_filtered_pa * 0.9f) + (diff_pres_pa_raw * 0.1f); _diff_pres.temperature = -1000.0f; /* announce the airspeed if needed, just publish else */ if (_diff_pres_pub != nullptr) { orb_publish(ORB_ID(differential_pressure), _diff_pres_pub, &_diff_pres); } else { _diff_pres_pub = orb_advertise(ORB_ID(differential_pressure), &_diff_pres); } } #endif } } _last_adc = t; if (_battery_status.voltage_filtered_v > BATT_V_IGNORE_THRESHOLD) { /* announce the battery status if needed, just publish else */ if (_battery_pub != nullptr) { orb_publish(ORB_ID(battery_status), _battery_pub, &_battery_status); } else { _battery_pub = orb_advertise(ORB_ID(battery_status), &_battery_status); } } } } } float Sensors::get_rc_value(uint8_t func, float min_value, float max_value) { if (_rc.function[func] >= 0) { float value = _rc.channels[_rc.function[func]]; if (value < min_value) { return min_value; } else if (value > max_value) { return max_value; } else { return value; } } else { return 0.0f; } } switch_pos_t Sensors::get_rc_sw3pos_position(uint8_t func, float on_th, bool on_inv, float mid_th, bool mid_inv) { if (_rc.function[func] >= 0) { float value = 0.5f * _rc.channels[_rc.function[func]] + 0.5f; if (on_inv ? value < on_th : value > on_th) { return manual_control_setpoint_s::SWITCH_POS_ON; } else if (mid_inv ? value < mid_th : value > mid_th) { return manual_control_setpoint_s::SWITCH_POS_MIDDLE; } else { return manual_control_setpoint_s::SWITCH_POS_OFF; } } else { return manual_control_setpoint_s::SWITCH_POS_NONE; } } switch_pos_t Sensors::get_rc_sw2pos_position(uint8_t func, float on_th, bool on_inv) { if (_rc.function[func] >= 0) { float value = 0.5f * _rc.channels[_rc.function[func]] + 0.5f; if (on_inv ? value < on_th : value > on_th) { return manual_control_setpoint_s::SWITCH_POS_ON; } else { return manual_control_setpoint_s::SWITCH_POS_OFF; } } else { return manual_control_setpoint_s::SWITCH_POS_NONE; } } void Sensors::set_params_from_rc() { for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) { if (_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i] < 0 || !_rc_parameter_map.valid[i]) { /* This RC channel is not mapped to a RC-Parameter Channel (e.g. RC_MAP_PARAM1 == 0) * or no request to map this channel to a param has been sent via mavlink */ continue; } float rc_val = get_rc_value((rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i), -1.0, 1.0); /* Check if the value has changed, * maybe we need to introduce a more aggressive limit here */ if (rc_val > _param_rc_values[i] + FLT_EPSILON || rc_val < _param_rc_values[i] - FLT_EPSILON) { _param_rc_values[i] = rc_val; float param_val = math::constrain( _rc_parameter_map.value0[i] + _rc_parameter_map.scale[i] * rc_val, _rc_parameter_map.value_min[i], _rc_parameter_map.value_max[i]); param_set(_parameter_handles.rc_param[i], ¶m_val); } } } void Sensors::rc_poll() { bool rc_updated; orb_check(_rc_sub, &rc_updated); if (rc_updated) { /* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */ struct rc_input_values rc_input; orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input); /* detect RC signal loss */ bool signal_lost; /* check flags and require at least four channels to consider the signal valid */ if (rc_input.rc_lost || rc_input.rc_failsafe || rc_input.channel_count < 4) { /* signal is lost or no enough channels */ signal_lost = true; } else { /* signal looks good */ signal_lost = false; /* check failsafe */ int8_t fs_ch = _rc.function[_parameters.rc_map_failsafe]; // get channel mapped to throttle if (_parameters.rc_map_failsafe > 0) { // if not 0, use channel number instead of rc.function mapping fs_ch = _parameters.rc_map_failsafe - 1; } if (_parameters.rc_fails_thr > 0 && fs_ch >= 0) { /* failsafe configured */ if ((_parameters.rc_fails_thr < _parameters.min[fs_ch] && rc_input.values[fs_ch] < _parameters.rc_fails_thr) || (_parameters.rc_fails_thr > _parameters.max[fs_ch] && rc_input.values[fs_ch] > _parameters.rc_fails_thr)) { /* failsafe triggered, signal is lost by receiver */ signal_lost = true; } } } unsigned channel_limit = rc_input.channel_count; if (channel_limit > _rc_max_chan_count) { channel_limit = _rc_max_chan_count; } /* read out and scale values from raw message even if signal is invalid */ for (unsigned int i = 0; i < channel_limit; i++) { /* * 1) Constrain to min/max values, as later processing depends on bounds. */ if (rc_input.values[i] < _parameters.min[i]) { rc_input.values[i] = _parameters.min[i]; } if (rc_input.values[i] > _parameters.max[i]) { rc_input.values[i] = _parameters.max[i]; } /* * 2) Scale around the mid point differently for lower and upper range. * * This is necessary as they don't share the same endpoints and slope. * * First normalize to 0..1 range with correct sign (below or above center), * the total range is 2 (-1..1). * If center (trim) == min, scale to 0..1, if center (trim) == max, * scale to -1..0. * * As the min and max bounds were enforced in step 1), division by zero * cannot occur, as for the case of center == min or center == max the if * statement is mutually exclusive with the arithmetic NaN case. * * DO NOT REMOVE OR ALTER STEP 1! */ if (rc_input.values[i] > (_parameters.trim[i] + _parameters.dz[i])) { _rc.channels[i] = (rc_input.values[i] - _parameters.trim[i] - _parameters.dz[i]) / (float)( _parameters.max[i] - _parameters.trim[i] - _parameters.dz[i]); } else if (rc_input.values[i] < (_parameters.trim[i] - _parameters.dz[i])) { _rc.channels[i] = (rc_input.values[i] - _parameters.trim[i] + _parameters.dz[i]) / (float)( _parameters.trim[i] - _parameters.min[i] - _parameters.dz[i]); } else { /* in the configured dead zone, output zero */ _rc.channels[i] = 0.0f; } _rc.channels[i] *= _parameters.rev[i]; /* handle any parameter-induced blowups */ if (!PX4_ISFINITE(_rc.channels[i])) { _rc.channels[i] = 0.0f; } } _rc.channel_count = rc_input.channel_count; _rc.rssi = rc_input.rssi; _rc.signal_lost = signal_lost; _rc.timestamp = rc_input.timestamp_last_signal; _rc.frame_drop_count = rc_input.rc_lost_frame_count; /* publish rc_channels topic even if signal is invalid, for debug */ if (_rc_pub != nullptr) { orb_publish(ORB_ID(rc_channels), _rc_pub, &_rc); } else { _rc_pub = orb_advertise(ORB_ID(rc_channels), &_rc); } if (!signal_lost) { struct manual_control_setpoint_s manual; memset(&manual, 0 , sizeof(manual)); /* fill values in manual_control_setpoint topic only if signal is valid */ manual.timestamp = rc_input.timestamp_last_signal; /* limit controls */ manual.y = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_ROLL, -1.0, 1.0); manual.x = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_PITCH, -1.0, 1.0); manual.r = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_YAW, -1.0, 1.0); manual.z = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_THROTTLE, 0.0, 1.0); manual.flaps = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_FLAPS, -1.0, 1.0); manual.aux1 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_1, -1.0, 1.0); manual.aux2 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_2, -1.0, 1.0); manual.aux3 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_3, -1.0, 1.0); manual.aux4 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_4, -1.0, 1.0); manual.aux5 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_5, -1.0, 1.0); /* mode switches */ manual.mode_switch = get_rc_sw3pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_MODE, _parameters.rc_auto_th, _parameters.rc_auto_inv, _parameters.rc_assist_th, _parameters.rc_assist_inv); manual.rattitude_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_RATTITUDE, _parameters.rc_rattitude_th, _parameters.rc_rattitude_inv); manual.posctl_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_POSCTL, _parameters.rc_posctl_th, _parameters.rc_posctl_inv); manual.return_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_RETURN, _parameters.rc_return_th, _parameters.rc_return_inv); manual.loiter_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_LOITER, _parameters.rc_loiter_th, _parameters.rc_loiter_inv); manual.acro_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_ACRO, _parameters.rc_acro_th, _parameters.rc_acro_inv); manual.offboard_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_OFFBOARD, _parameters.rc_offboard_th, _parameters.rc_offboard_inv); manual.kill_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_KILLSWITCH, _parameters.rc_killswitch_th, _parameters.rc_killswitch_inv); /* publish manual_control_setpoint topic */ if (_manual_control_pub != nullptr) { orb_publish(ORB_ID(manual_control_setpoint), _manual_control_pub, &manual); } else { _manual_control_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual); } /* copy from mapped manual control to control group 3 */ struct actuator_controls_s actuator_group_3; memset(&actuator_group_3, 0 , sizeof(actuator_group_3)); actuator_group_3.timestamp = rc_input.timestamp_last_signal; actuator_group_3.control[0] = manual.y; actuator_group_3.control[1] = manual.x; actuator_group_3.control[2] = manual.r; actuator_group_3.control[3] = manual.z; actuator_group_3.control[4] = manual.flaps; actuator_group_3.control[5] = manual.aux1; actuator_group_3.control[6] = manual.aux2; actuator_group_3.control[7] = manual.aux3; /* publish actuator_controls_3 topic */ if (_actuator_group_3_pub != nullptr) { orb_publish(ORB_ID(actuator_controls_3), _actuator_group_3_pub, &actuator_group_3); } else { _actuator_group_3_pub = orb_advertise(ORB_ID(actuator_controls_3), &actuator_group_3); } /* Update parameters from RC Channels (tuning with RC) if activated */ static hrt_abstime last_rc_to_param_map_time = 0; if (hrt_elapsed_time(&last_rc_to_param_map_time) > 1e6) { set_params_from_rc(); last_rc_to_param_map_time = hrt_absolute_time(); } } } } void Sensors::task_main_trampoline(int argc, char *argv[]) { sensors::g_sensors->task_main(); } int Sensors::init_sensor_class(const struct orb_metadata *meta, int *subs, uint32_t *priorities, uint32_t *errcount) { unsigned group_count = orb_group_count(meta); if (group_count > SENSOR_COUNT_MAX) { group_count = SENSOR_COUNT_MAX; } for (unsigned i = 0; i < group_count; i++) { if (subs[i] < 0) { subs[i] = orb_subscribe_multi(meta, i); orb_priority(subs[i], (int32_t *)&priorities[i]); } } return group_count; } void Sensors::task_main() { /* start individual sensors */ int ret = 0; do { /* create a scope to handle exit with break */ #ifndef __PX4_QURT // TODO: needs fixes for QURT. ret = accel_init(); if (ret) { break; } ret = gyro_init(); if (ret) { break; } ret = mag_init(); if (ret) { break; } ret = baro_init(); if (ret) { break; } ret = adc_init(); if (ret) { break; } #endif break; } while (0); if (ret) { warnx("sensor initialization failed"); _sensors_task = -1; DevMgr::releaseHandle(_h_adc); return; } struct sensor_combined_s raw = {}; /* ensure no overflows can occur */ static_assert((sizeof(raw.gyro_timestamp) / sizeof(raw.gyro_timestamp[0])) >= SENSOR_COUNT_MAX, "SENSOR_COUNT_MAX larger than sensor_combined datastructure fields. Overflow would occur"); /* * do subscriptions */ unsigned gcount_prev = _gyro_count; unsigned mcount_prev = _mag_count; unsigned acount_prev = _accel_count; unsigned bcount_prev = _baro_count; _gyro_count = init_sensor_class(ORB_ID(sensor_gyro), &_gyro_sub[0], &raw.gyro_priority[0], &raw.gyro_errcount[0]); _mag_count = init_sensor_class(ORB_ID(sensor_mag), &_mag_sub[0], &raw.magnetometer_priority[0], &raw.magnetometer_errcount[0]); _accel_count = init_sensor_class(ORB_ID(sensor_accel), &_accel_sub[0], &raw.accelerometer_priority[0], &raw.accelerometer_errcount[0]); _baro_count = init_sensor_class(ORB_ID(sensor_baro), &_baro_sub[0], &raw.baro_priority[0], &raw.baro_errcount[0]); if (gcount_prev != _gyro_count || mcount_prev != _mag_count || acount_prev != _accel_count || bcount_prev != _baro_count) { /* reload calibration params */ parameter_update_poll(true); } _rc_sub = orb_subscribe(ORB_ID(input_rc)); _diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure)); _vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); _params_sub = orb_subscribe(ORB_ID(parameter_update)); _rc_parameter_map_sub = orb_subscribe(ORB_ID(rc_parameter_map)); _manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); /* * do advertisements */ raw.timestamp = hrt_absolute_time(); raw.adc_voltage_v[0] = 0.0f; raw.adc_voltage_v[1] = 0.0f; raw.adc_voltage_v[2] = 0.0f; raw.adc_voltage_v[3] = 0.0f; memset(&_battery_status, 0, sizeof(_battery_status)); _battery_status.voltage_v = -1.0f; _battery_status.voltage_filtered_v = -1.0f; _battery_status.current_a = -1.0f; _battery_status.discharged_mah = -1.0f; /* get a set of initial values */ accel_poll(raw); gyro_poll(raw); mag_poll(raw); baro_poll(raw); diff_pres_poll(raw); parameter_update_poll(true /* forced */); rc_parameter_map_poll(true /* forced */); /* advertise the sensor_combined topic and make the initial publication */ _sensor_pub = orb_advertise(ORB_ID(sensor_combined), &raw); /* wakeup source(s) */ px4_pollfd_struct_t fds[1] = {}; /* use the gyro to pace output */ fds[0].fd = _gyro_sub[0]; fds[0].events = POLLIN; _task_should_exit = false; raw.timestamp = 0; uint64_t _last_config_update = hrt_absolute_time(); while (!_task_should_exit) { /* wait for up to 50ms for data */ int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 50); /* if pret == 0 it timed out - periodic check for _task_should_exit, etc. */ /* this is undesirable but not much we can do - might want to flag unhappy status */ if (pret < 0) { PX4_WARN("poll error %d, %d", pret, errno); continue; } perf_begin(_loop_perf); /* check vehicle status for changes to publication state */ vehicle_control_mode_poll(); /* the timestamp of the raw struct is updated by the gyro_poll() method */ /* copy most recent sensor data */ gyro_poll(raw); accel_poll(raw); mag_poll(raw); baro_poll(raw); /* Work out if main gyro timed out and fail over to alternate gyro. * However, don't do this if the secondary is not available. */ if (hrt_elapsed_time(&raw.gyro_timestamp[0]) > 20 * 1000 && _gyro_sub[1] >= 0) { /* If the secondary failed as well, go to the tertiary, also only if available. */ if (hrt_elapsed_time(&raw.gyro_timestamp[1]) > 20 * 1000 && _gyro_sub[2] >= 0) { fds[0].fd = _gyro_sub[2]; warnx("failing over to third gyro"); } else if (_gyro_sub[1] >= 0) { fds[0].fd = _gyro_sub[1]; warnx("failing over to second gyro"); } } /* check battery voltage */ adc_poll(raw); diff_pres_poll(raw); /* Inform other processes that new data is available to copy */ if (_publishing && raw.timestamp > 0) { orb_publish(ORB_ID(sensor_combined), _sensor_pub, &raw); } /* keep adding sensors as long as we are not armed, * when not adding sensors poll for param updates */ if (!_armed && hrt_elapsed_time(&_last_config_update) > 500 * 1000) { _gyro_count = init_sensor_class(ORB_ID(sensor_gyro), &_gyro_sub[0], &raw.gyro_priority[0], &raw.gyro_errcount[0]); _mag_count = init_sensor_class(ORB_ID(sensor_mag), &_mag_sub[0], &raw.magnetometer_priority[0], &raw.magnetometer_errcount[0]); _accel_count = init_sensor_class(ORB_ID(sensor_accel), &_accel_sub[0], &raw.accelerometer_priority[0], &raw.accelerometer_errcount[0]); _baro_count = init_sensor_class(ORB_ID(sensor_baro), &_baro_sub[0], &raw.baro_priority[0], &raw.baro_errcount[0]); _last_config_update = hrt_absolute_time(); } else { /* check parameters for updates */ parameter_update_poll(); /* check rc parameter map for updates */ rc_parameter_map_poll(); } /* Look for new r/c input data */ rc_poll(); perf_end(_loop_perf); } warnx("exiting."); _sensors_task = -1; px4_task_exit(ret); } int Sensors::start() { ASSERT(_sensors_task == -1); /* start the task */ _sensors_task = px4_task_spawn_cmd("sensors", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 2000, (px4_main_t)&Sensors::task_main_trampoline, nullptr); /* wait until the task is up and running or has failed */ while (_sensors_task > 0 && _task_should_exit) { usleep(100); } if (_sensors_task < 0) { return -ERROR; } return OK; } int sensors_main(int argc, char *argv[]) { if (argc < 2) { warnx("usage: sensors {start|stop|status}"); return 0; } if (!strcmp(argv[1], "start")) { if (sensors::g_sensors != nullptr) { warnx("already running"); return 0; } sensors::g_sensors = new Sensors; if (sensors::g_sensors == nullptr) { warnx("alloc failed"); return 1; } if (OK != sensors::g_sensors->start()) { delete sensors::g_sensors; sensors::g_sensors = nullptr; warnx("start failed"); return 1; } return 0; } if (!strcmp(argv[1], "stop")) { if (sensors::g_sensors == nullptr) { warnx("not running"); return 1; } delete sensors::g_sensors; sensors::g_sensors = nullptr; return 0; } if (!strcmp(argv[1], "status")) { if (sensors::g_sensors) { warnx("is running"); return 0; } else { warnx("not running"); return 1; } } warnx("unrecognized command"); return 1; }