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PX4-Autopilot/src/modules/sensors/sensors.cpp

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/****************************************************************************
*
* 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 <lorenz@px4.io>
* @author Julian Oes <julian@oes.ch>
* @author Thomas Gubler <thomas@px4.io>
* @author Anton Babushkin <anton@px4.io>
*/
// TODO-JYW: TESTING-TESTING
#define DEBUG_BUILD 1
#include <board_config.h>
#include <px4_config.h>
#include <px4_tasks.h>
#include <px4_posix.h>
#include <px4_time.h>
#include <fcntl.h>
#include <poll.h>
#include <unistd.h>
#include <stdlib.h>
#include <string.h>
#include <stdbool.h>
#include <stdio.h>
#include <errno.h>
#include <math.h>
#include <mathlib/mathlib.h>
#include <px4_adc.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 <drivers/drv_rc_input.h>
#include <drivers/drv_adc.h>
#include <drivers/drv_airspeed.h>
#include <drivers/drv_px4flow.h>
#include <systemlib/systemlib.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
#include <systemlib/perf_counter.h>
#include <systemlib/battery.h>
#include <conversion/rotation.h>
#include <systemlib/airspeed.h>
#include <lib/ecl/validation/data_validator.h>
#include <uORB/uORB.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/rc_parameter_map.h>
#include <DevMgr.hpp>
#include "sensors_init.h"
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 on FMUv2 & v3, RC RSSI on FMUv4
* IN12 - spare (we could actually trim these from the set)
* IN13 - aux1 on FMUv2, unavaible on v3 & v4
* IN14 - aux2 on FMUv2, unavaible on v3 & v4
* IN15 - pressure sensor on FMUv2, unavaible on v3 & v4
*
* IO:
* IN4 - servo supply rail
* IN5 - analog RSSI on FMUv2 & v3
*
* The channel definitions (e.g., ADC_BATTERY_VOLTAGE_CHANNEL, ADC_BATTERY_CURRENT_CHANNEL, and ADC_AIRSPEED_VOLTAGE_CHANNEL) are defined in board_config.h
*/
/**
* 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 */
int _actuator_ctrl_0_sub; /**< attitude controls sub */
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 */
Battery _battery; /**< Helper lib to publish battery_status topic. */
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;
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];
int rc_map_flightmode;
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 battery_current_offset;
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_map_flightmode;
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 battery_current_offset;
param_t board_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 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);
/**
* Apply a gyro calibration.
*
* @param h: reference to the DevHandle in use
* @param gscale: the calibration data.
* @param device: the device id of the sensor.
* @return: true if config is ok
*/
bool apply_gyro_calibration(DevHandle &h, const struct gyro_calibration_s *gcal, const int device_id);
/**
* Apply a accel calibration.
*
* @param h: reference to the DevHandle in use
* @param ascale: the calibration data.
* @param device: the device id of the sensor.
* @return: true if config is ok
*/
bool apply_accel_calibration(DevHandle &h, const struct accel_calibration_s *acal, const int device_id);
/**
* Apply a mag calibration.
*
* @param h: reference to the DevHandle in use
* @param gscale: the calibration data.
* @param device: the device id of the sensor.
* @return: true if config is ok
*/
bool apply_mag_calibration(DevHandle &h, const struct mag_calibration_s *mcal, const int device_id);
/**
* 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, "sensors")),
_airspeed_validator(),
_param_rc_values{},
_board_rotation{},
_mag_rotation{}
{
/* 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);
}
_parameter_handles.rc_map_flightmode = param_find("RC_MAP_FLTMODE");
/* 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");
_parameter_handles.battery_current_offset = param_find("BAT_C_OFFSET");
/* rotations */
_parameter_handles.board_rotation = param_find("SENS_BOARD_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("CAL_MAG_SIDES");
(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("SYS_MC_EST_GROUP");
/* 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_map_flightmode, &(_parameters.rc_map_flightmode));
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) || defined ( CONFIG_ARCH_BOARD_MINDPX_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 = 0.0293f;
#elif defined (CONFIG_ARCH_BOARD_PX4FMU_V2) || defined ( CONFIG_ARCH_BOARD_MINDPX_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_current_scaling = 0.00001f;
#endif
}
if (param_get(_parameter_handles.battery_current_offset, &(_parameters.battery_current_offset)) != OK) {
warnx("%s", paramerr);
} else if (_parameters.battery_current_offset < 0.0f) {
_parameters.battery_current_offset = 0.0f;
}
param_get(_parameter_handles.board_rotation, &(_parameters.board_rotation));
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);
#if !defined(__PX4_QURT) && !defined(__RPI2)
// TODO: this needs fixing for QURT and Raspberry Pi
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::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, &param_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;
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++) {
(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_calibration_s 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 */
config_ok = apply_gyro_calibration(h, &gscale, device_id);
if (!config_ok) {
warnx(CAL_ERROR_APPLY_CAL_MSG, "gyro ", i);
}
}
break;
}
}
if (config_ok) {
gyro_count++;
}
}
/* run through all accel sensors */
for (unsigned s = 0; s < SENSOR_COUNT_MAX; s++) {
(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_calibration_s ascale = {};
(void)sprintf(str, "CAL_ACC%u_XOFF", i);
failed = failed || (OK != param_get(param_find(str), &ascale.x_offset));
(void)sprintf(str, "CAL_ACC%u_YOFF", i);
failed = failed || (OK != param_get(param_find(str), &ascale.y_offset));
(void)sprintf(str, "CAL_ACC%u_ZOFF", i);
failed = failed || (OK != param_get(param_find(str), &ascale.z_offset));
(void)sprintf(str, "CAL_ACC%u_XSCALE", i);
failed = failed || (OK != param_get(param_find(str), &ascale.x_scale));
(void)sprintf(str, "CAL_ACC%u_YSCALE", i);
failed = failed || (OK != param_get(param_find(str), &ascale.y_scale));
(void)sprintf(str, "CAL_ACC%u_ZSCALE", i);
failed = failed || (OK != param_get(param_find(str), &ascale.z_scale));
if (failed) {
warnx(CAL_ERROR_APPLY_CAL_MSG, "accel", i);
} else {
/* apply new scaling and offsets */
config_ok = apply_accel_calibration(h, &ascale, device_id);
if (!config_ok) {
warnx(CAL_ERROR_APPLY_CAL_MSG, "accel ", i);
}
}
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;
(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_calibration_s mscale = {};
(void)sprintf(str, "CAL_MAG%u_XOFF", i);
failed = failed || (OK != param_get(param_find(str), &mscale.x_offset));
(void)sprintf(str, "CAL_MAG%u_YOFF", i);
failed = failed || (OK != param_get(param_find(str), &mscale.y_offset));
(void)sprintf(str, "CAL_MAG%u_ZOFF", i);
failed = failed || (OK != param_get(param_find(str), &mscale.z_offset));
(void)sprintf(str, "CAL_MAG%u_XSCALE", i);
failed = failed || (OK != param_get(param_find(str), &mscale.x_scale));
(void)sprintf(str, "CAL_MAG%u_YSCALE", i);
failed = failed || (OK != param_get(param_find(str), &mscale.y_scale));
(void)sprintf(str, "CAL_MAG%u_ZSCALE", i);
failed = failed || (OK != param_get(param_find(str), &mscale.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 */
config_ok = apply_mag_calibration(h, &mscale, device_id);
if (!config_ok) {
warnx(CAL_ERROR_APPLY_CAL_MSG, "mag ", i);
}
}
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);
_battery.updateParams();
}
}
bool
Sensors::apply_gyro_calibration(DevHandle &h, const struct gyro_calibration_s *gcal, const int device_id)
{
#if !defined(__PX4_QURT) && !defined(__RPI2)
/* On most systems, we can just use the IOCTL call to set the calibration params. */
const int res = h.ioctl(GYROIOCSSCALE, (long unsigned int)gcal);
if (res) {
return false;
} else {
return true;
}
#else
/* On QURT, the params are read directly in the respective wrappers. */
return true;
#endif
}
bool
Sensors::apply_accel_calibration(DevHandle &h, const struct accel_calibration_s *acal, const int device_id)
{
#if !defined(__PX4_QURT) && !defined(__RPI2)
/* On most systems, we can just use the IOCTL call to set the calibration params. */
const int res = h.ioctl(ACCELIOCSSCALE, (long unsigned int)acal);
if (res) {
return false;
} else {
return true;
}
#else
/* On QURT, the params are read directly in the respective wrappers. */
return true;
#endif
}
bool
Sensors::apply_mag_calibration(DevHandle &h, const struct mag_calibration_s *mcal, const int device_id)
{
#if !defined(__PX4_QURT) && !defined(__RPI2)
/* On most systems, we can just use the IOCTL call to set the calibration params. */
const int res = h.ioctl(MAGIOCSSCALE, (long unsigned int)mcal);
if (res) {
return false;
} else {
return true;
}
#else
/* On QURT, the params are read directly in the respective wrappers. */
return true;
#endif
}
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));
float bat_voltage_v = 0.0f;
float bat_current_a = 0.0f;
bool updated_battery = false;
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 */
bat_voltage_v = (buf_adc[i].am_data * _parameters.battery_voltage_scaling);
if (bat_voltage_v > 0.5f) {
updated_battery = true;
}
} else if (ADC_BATTERY_CURRENT_CHANNEL == buf_adc[i].am_channel) {
bat_current_a = (buf_adc[i].am_data * _parameters.battery_current_scaling);
#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
}
}
if (updated_battery) {
actuator_controls_s ctrl;
orb_copy(ORB_ID(actuator_controls_0), _actuator_ctrl_0_sub, &ctrl);
_battery.updateBatteryStatus(t, bat_voltage_v, bat_current_a, ctrl.control[actuator_controls_s::INDEX_THROTTLE],
_armed, &_battery_status);
/* 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);
}
}
_last_adc = t;
}
}
}
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], &param_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);
}
/* only publish manual control if the signal is still present */
if (!signal_lost) {
/* initialize manual setpoint */
struct manual_control_setpoint_s manual = {};
/* set mode slot to unassigned */
manual.mode_slot = manual_control_setpoint_s::MODE_SLOT_NONE;
/* set the timestamp to the last signal time */
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);
if (_parameters.rc_map_flightmode > 0) {
/* the number of valid slots equals the index of the max marker minus one */
const unsigned num_slots = manual_control_setpoint_s::MODE_SLOT_MAX;
/* the half width of the range of a slot is the total range
* divided by the number of slots, again divided by two
*/
const float slot_width_half = 2.0f / num_slots / 2.0f;
/* min is -1, max is +1, range is 2. We offset below min and max */
const float slot_min = -1.0f - 0.05f;
const float slot_max = 1.0f + 0.05f;
/* the slot gets mapped by first normalizing into a 0..1 interval using min
* and max. Then the right slot is obtained by multiplying with the number of
* slots. And finally we add half a slot width to ensure that integer rounding
* will take us to the correct final index.
*/
manual.mode_slot = (((((_rc.channels[_parameters.rc_map_flightmode - 1] - slot_min) * num_slots) + slot_width_half) /
(slot_max - slot_min)) + (1.0f / num_slots));
if (manual.mode_slot >= num_slots) {
manual.mode_slot = num_slots - 1;
}
}
/* 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 = {};
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;
/* This calls a sensors_init which can have different implementations on NuttX, POSIX, QURT. */
ret = sensors_init();
#if !defined(__PX4_QURT) && !defined(__RPI2)
// TODO: move adc_init into the sensors_init call.
ret = ret || adc_init();
#endif
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));
_actuator_ctrl_0_sub = orb_subscribe(ORB_ID(actuator_controls_0));
/*
* 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;
_battery.reset(&_battery_status);
/* 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) {
/* if the polling operation failed because no gyro sensor is available yet,
* then attempt to subscribe once again
*/
if (_gyro_count == 0) {
_gyro_count = init_sensor_class(ORB_ID(sensor_gyro), &_gyro_sub[0],
&raw.gyro_priority[0], &raw.gyro_errcount[0]);
fds[0].fd = _gyro_sub[0];
}
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);
// FIXME TODO: this needs more thinking, otherwise we spam the console and keep switching.
/* 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) {
warnx("gyro has timed out");
/* 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];
if (!_hil_enabled) {
warnx("failing over to third gyro");
}
} else if (_gyro_sub[1] >= 0) {
fds[0].fd = _gyro_sub[1];
if (!_hil_enabled) {
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;
}
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