mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-10 13:11:37 +08:00
Daniel Agar
0c31f63896
- sensor_baro.msg use SI (pressure in Pascals) - update all barometer drivers to publish directly and remove PX4Barometer helper - introduce baro cal (offset) mainly as a mechanism to adjust relative priority - commander: add simple baro cal that sets baro offsets to align with GPS altitude (if available) - create new sensors_status.msg to generalize sensor reporting
114 lines
3.7 KiB
C++
114 lines
3.7 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2022 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.
|
|
*
|
|
****************************************************************************/
|
|
|
|
#pragma once
|
|
|
|
#include <px4_platform_common/px4_config.h>
|
|
#include <px4_platform_common/log.h>
|
|
#include <uORB/Subscription.hpp>
|
|
#include <uORB/topics/sensor_correction.h>
|
|
|
|
namespace calibration
|
|
{
|
|
class Barometer
|
|
{
|
|
public:
|
|
static constexpr int MAX_SENSOR_COUNT = 4;
|
|
|
|
static constexpr uint8_t DEFAULT_PRIORITY = 50;
|
|
static constexpr uint8_t DEFAULT_EXTERNAL_PRIORITY = 75;
|
|
|
|
static constexpr const char *SensorString() { return "BARO"; }
|
|
|
|
Barometer();
|
|
explicit Barometer(uint32_t device_id);
|
|
|
|
~Barometer() = default;
|
|
|
|
void PrintStatus();
|
|
|
|
bool set_calibration_index(int calibration_index);
|
|
void set_device_id(uint32_t device_id);
|
|
bool set_offset(const float &offset);
|
|
|
|
bool calibrated() const { return (_device_id != 0) && (_calibration_index >= 0); }
|
|
uint8_t calibration_count() const { return _calibration_count; }
|
|
int8_t calibration_index() const { return _calibration_index; }
|
|
uint32_t device_id() const { return _device_id; }
|
|
bool enabled() const { return (_priority > 0); }
|
|
bool external() const { return _external; }
|
|
const float &offset() const { return _offset; }
|
|
const int32_t &priority() const { return _priority; }
|
|
const float &thermal_offset() const { return _thermal_offset; }
|
|
|
|
// apply offsets
|
|
inline float Correct(const float &data) const
|
|
{
|
|
return data - _thermal_offset - _offset;
|
|
}
|
|
|
|
inline float Uncorrect(const float &corrected_data) const
|
|
{
|
|
return corrected_data + _thermal_offset + _offset;
|
|
}
|
|
|
|
// Compute sensor offset from bias (board frame)
|
|
float BiasCorrectedSensorOffset(const float &bias) const
|
|
{
|
|
return bias + _thermal_offset + _offset;
|
|
}
|
|
|
|
bool ParametersLoad();
|
|
bool ParametersSave(int desired_calibration_index = -1, bool force = false);
|
|
void ParametersUpdate();
|
|
|
|
void Reset();
|
|
|
|
void SensorCorrectionsUpdate(bool force = false);
|
|
|
|
private:
|
|
uORB::Subscription _sensor_correction_sub{ORB_ID(sensor_correction)};
|
|
|
|
float _offset{0};
|
|
float _thermal_offset{0};
|
|
|
|
int8_t _calibration_index{-1};
|
|
uint32_t _device_id{0};
|
|
int32_t _priority{-1};
|
|
|
|
bool _external{false};
|
|
|
|
uint8_t _calibration_count{0};
|
|
};
|
|
} // namespace calibration
|