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PX4-Autopilot/src/modules/sensors/voted_sensors_update.cpp
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/****************************************************************************
*
* Copyright (c) 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 voted_sensors_update.cpp
*
* @author Beat Kueng <beat-kueng@gmx.net>
*/
#include "voted_sensors_update.h"
#include <systemlib/mavlink_log.h>
#include <uORB/Subscription.hpp>
#include <conversion/rotation.h>
#include <ecl/geo/geo.h>
#define MAG_ROT_VAL_INTERNAL -1
#define CAL_ERROR_APPLY_CAL_MSG "FAILED APPLYING %s CAL #%u"
using namespace sensors;
using namespace DriverFramework;
using namespace matrix;
VotedSensorsUpdate::VotedSensorsUpdate(const Parameters &parameters, bool hil_enabled)
: _parameters(parameters), _hil_enabled(hil_enabled)
{
for (unsigned i = 0; i < 3; i++) {
_corrections.gyro_scale_0[i] = 1.0f;
_corrections.accel_scale_0[i] = 1.0f;
_corrections.gyro_scale_1[i] = 1.0f;
_corrections.accel_scale_1[i] = 1.0f;
_corrections.gyro_scale_2[i] = 1.0f;
_corrections.accel_scale_2[i] = 1.0f;
}
_corrections.baro_scale_0 = 1.0f;
_corrections.baro_scale_1 = 1.0f;
_corrections.baro_scale_2 = 1.0f;
_baro.voter.set_timeout(300000);
_mag.voter.set_timeout(300000);
_mag.voter.set_equal_value_threshold(1000);
if (_hil_enabled) { // HIL has less accurate timing so increase the timeouts a bit
_gyro.voter.set_timeout(500000);
_accel.voter.set_timeout(500000);
}
}
int VotedSensorsUpdate::init(sensor_combined_s &raw)
{
raw.accelerometer_timestamp_relative = sensor_combined_s::RELATIVE_TIMESTAMP_INVALID;
raw.timestamp = 0;
initializeSensors();
_corrections_changed = true; //make sure to initially publish the corrections topic
_selection_changed = true;
return 0;
}
void VotedSensorsUpdate::initializeSensors()
{
initSensorClass(ORB_ID(sensor_gyro), _gyro, GYRO_COUNT_MAX);
initSensorClass(ORB_ID(sensor_mag), _mag, MAG_COUNT_MAX);
initSensorClass(ORB_ID(sensor_accel), _accel, ACCEL_COUNT_MAX);
initSensorClass(ORB_ID(sensor_baro), _baro, BARO_COUNT_MAX);
}
void VotedSensorsUpdate::deinit()
{
for (int i = 0; i < _gyro.subscription_count; i++) {
orb_unsubscribe(_gyro.subscription[i]);
}
for (int i = 0; i < _accel.subscription_count; i++) {
orb_unsubscribe(_accel.subscription[i]);
}
for (int i = 0; i < _mag.subscription_count; i++) {
orb_unsubscribe(_mag.subscription[i]);
}
for (int i = 0; i < _baro.subscription_count; i++) {
orb_unsubscribe(_baro.subscription[i]);
}
}
void VotedSensorsUpdate::parametersUpdate()
{
/* fine tune board offset */
Dcmf board_rotation_offset = Eulerf(
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 * get_rot_matrix((enum Rotation)_parameters.board_rotation);
// initialze all mag rotations with the board rotation in case there is no calibration data available
for (int topic_instance = 0; topic_instance < MAG_COUNT_MAX; ++topic_instance) {
_mag_rotation[topic_instance] = _board_rotation;
}
/* Load & apply the sensor calibrations.
* IMPORTANT: we assume all sensor drivers are running and published sensor data at this point
*/
/* temperature compensation */
_temperature_compensation.parameters_update(_hil_enabled);
/* gyro */
for (uint8_t topic_instance = 0; topic_instance < _gyro.subscription_count; ++topic_instance) {
uORB::SubscriptionData<sensor_gyro_s> report{ORB_ID(sensor_gyro), topic_instance};
int temp = _temperature_compensation.set_sensor_id_gyro(report.get().device_id, topic_instance);
if (temp < 0) {
PX4_ERR("%s temp compensation init: failed to find device ID %u for instance %i", "gyro", report.get().device_id,
topic_instance);
_corrections.gyro_mapping[topic_instance] = 0;
} else {
_corrections.gyro_mapping[topic_instance] = temp;
}
}
/* accel */
for (uint8_t topic_instance = 0; topic_instance < _accel.subscription_count; ++topic_instance) {
uORB::SubscriptionData<sensor_accel_s> report{ORB_ID(sensor_accel), topic_instance};
int temp = _temperature_compensation.set_sensor_id_accel(report.get().device_id, topic_instance);
if (temp < 0) {
PX4_ERR("%s temp compensation init: failed to find device ID %u for instance %i", "accel", report.get().device_id,
topic_instance);
_corrections.accel_mapping[topic_instance] = 0;
} else {
_corrections.accel_mapping[topic_instance] = temp;
}
}
/* baro */
for (uint8_t topic_instance = 0; topic_instance < _baro.subscription_count; ++topic_instance) {
uORB::SubscriptionData<sensor_baro_s> report{ORB_ID(sensor_baro), topic_instance};
int temp = _temperature_compensation.set_sensor_id_baro(report.get().device_id, topic_instance);
if (temp < 0) {
PX4_ERR("%s temp compensation init: failed to find device ID %u for instance %i", "baro", report.get().device_id,
topic_instance);
_corrections.baro_mapping[topic_instance] = 0;
} else {
_corrections.baro_mapping[topic_instance] = temp;
}
}
/* set offset parameters to new values */
bool failed = false;
char str[30] {};
unsigned gyro_count = 0;
unsigned accel_count = 0;
unsigned gyro_cal_found_count = 0;
unsigned accel_cal_found_count = 0;
/* run through all gyro sensors */
for (unsigned driver_index = 0; driver_index < GYRO_COUNT_MAX; driver_index++) {
_gyro.enabled[driver_index] = true;
(void)sprintf(str, "%s%u", GYRO_BASE_DEVICE_PATH, driver_index);
DevHandle h;
DevMgr::getHandle(str, h);
if (!h.isValid()) {
continue;
}
uint32_t driver_device_id = h.ioctl(DEVIOCGDEVICEID, 0);
bool config_ok = false;
/* run through all stored calibrations that are applied at the driver level*/
for (unsigned i = 0; i < GYRO_COUNT_MAX; i++) {
/* initially status is ok per config */
failed = false;
(void)sprintf(str, "CAL_GYRO%u_ID", i);
int32_t device_id = 0;
failed = failed || (OK != param_get(param_find(str), &device_id));
(void)sprintf(str, "CAL_GYRO%u_EN", i);
int32_t device_enabled = 1;
failed = failed || (OK != param_get(param_find(str), &device_enabled));
if (failed) {
continue;
}
if (driver_index == 0 && device_id > 0) {
gyro_cal_found_count++;
}
/* if the calibration is for this device, apply it */
if ((uint32_t)device_id == driver_device_id) {
_gyro.enabled[driver_index] = (device_enabled == 1);
if (!_gyro.enabled[driver_index]) { _gyro.priority[driver_index] = 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) {
PX4_ERR(CAL_ERROR_APPLY_CAL_MSG, "gyro", i);
} else {
/* apply new scaling and offsets */
config_ok = applyGyroCalibration(h, &gscale, device_id);
if (!config_ok) {
PX4_ERR(CAL_ERROR_APPLY_CAL_MSG, "gyro ", i);
}
}
break;
}
}
if (config_ok) {
gyro_count++;
}
}
// There are less gyros than calibrations
// reset the board calibration and fail the initial load
if (gyro_count < gyro_cal_found_count) {
// run through all stored calibrations and reset them
for (unsigned i = 0; i < GYRO_COUNT_MAX; i++) {
int32_t device_id = 0;
(void)sprintf(str, "CAL_GYRO%u_ID", i);
(void)param_set(param_find(str), &device_id);
}
}
/* run through all accel sensors */
for (unsigned driver_index = 0; driver_index < ACCEL_COUNT_MAX; driver_index++) {
_accel.enabled[driver_index] = true;
(void)sprintf(str, "%s%u", ACCEL_BASE_DEVICE_PATH, driver_index);
DevHandle h;
DevMgr::getHandle(str, h);
if (!h.isValid()) {
continue;
}
uint32_t driver_device_id = h.ioctl(DEVIOCGDEVICEID, 0);
bool config_ok = false;
/* run through all stored calibrations */
for (unsigned i = 0; i < ACCEL_COUNT_MAX; i++) {
/* initially status is ok per config */
failed = false;
(void)sprintf(str, "CAL_ACC%u_ID", i);
int32_t device_id = 0;
failed = failed || (OK != param_get(param_find(str), &device_id));
(void)sprintf(str, "CAL_ACC%u_EN", i);
int32_t device_enabled = 1;
failed = failed || (OK != param_get(param_find(str), &device_enabled));
if (failed) {
continue;
}
if (driver_index == 0 && device_id > 0) {
accel_cal_found_count++;
}
/* if the calibration is for this device, apply it */
if ((uint32_t)device_id == driver_device_id) {
_accel.enabled[driver_index] = (device_enabled == 1);
if (!_accel.enabled[driver_index]) { _accel.priority[driver_index] = 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) {
PX4_ERR(CAL_ERROR_APPLY_CAL_MSG, "accel", i);
} else {
/* apply new scaling and offsets */
config_ok = applyAccelCalibration(h, &ascale, device_id);
if (!config_ok) {
PX4_ERR(CAL_ERROR_APPLY_CAL_MSG, "accel ", i);
}
}
break;
}
}
if (config_ok) {
accel_count++;
}
}
// There are less accels than calibrations
// reset the board calibration and fail the initial load
if (accel_count < accel_cal_found_count) {
// run through all stored calibrations and reset them
for (unsigned i = 0; i < ACCEL_COUNT_MAX; i++) {
int32_t device_id = 0;
(void)sprintf(str, "CAL_ACC%u_ID", i);
(void)param_set(param_find(str), &device_id);
}
}
/* run through all mag sensors
* Because we store the device id in _mag_device_id, we need to get the id via uorb topic since
* the DevHandle method does not work on POSIX.
*/
/* first we have to reset all possible mags, since we are looping through the uORB instances instead of the drivers,
* and not all uORB instances have to be published yet at the initial call of parametersUpdate()
*/
for (int i = 0; i < MAG_COUNT_MAX; i++) {
_mag.enabled[i] = true;
}
for (int topic_instance = 0; topic_instance < MAG_COUNT_MAX
&& topic_instance < _mag.subscription_count; ++topic_instance) {
struct mag_report report;
if (orb_copy(ORB_ID(sensor_mag), _mag.subscription[topic_instance], &report) != 0) {
continue;
}
int topic_device_id = report.device_id;
bool is_external = report.is_external;
_mag_device_id[topic_instance] = topic_device_id;
// find the driver handle that matches the topic_device_id
DevHandle h;
for (unsigned driver_index = 0; driver_index < MAG_COUNT_MAX; ++driver_index) {
(void)sprintf(str, "%s%u", MAG_BASE_DEVICE_PATH, driver_index);
DevMgr::getHandle(str, h);
if (!h.isValid()) {
/* the driver is not running, continue with the next */
continue;
}
int driver_device_id = h.ioctl(DEVIOCGDEVICEID, 0);
if (driver_device_id == topic_device_id) {
break; // we found the matching driver
} else {
DevMgr::releaseHandle(h);
}
}
bool config_ok = false;
/* run through all stored calibrations */
for (unsigned i = 0; i < MAG_COUNT_MAX; i++) {
/* initially status is ok per config */
failed = false;
(void)sprintf(str, "CAL_MAG%u_ID", i);
int32_t device_id = 0;
failed = failed || (OK != param_get(param_find(str), &device_id));
(void)sprintf(str, "CAL_MAG%u_EN", i);
int32_t device_enabled = 1;
failed = failed || (OK != param_get(param_find(str), &device_enabled));
if (failed) {
continue;
}
/* if the calibration is for this device, apply it */
if ((uint32_t)device_id == _mag_device_id[topic_instance]) {
_mag.enabled[topic_instance] = (device_enabled == 1);
// the mags that were published after the initial parameterUpdate
// would be given the priority even if disabled. Reset it to 0 in this case
if (!_mag.enabled[topic_instance]) { _mag.priority[topic_instance] = 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);
int32_t mag_rot;
param_get(param_find(str), &mag_rot);
if (is_external) {
/* check if this mag is still set as internal, otherwise leave untouched */
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);
}
} else {
/* mag is internal - reset param to -1 to indicate internal mag */
if (mag_rot != MAG_ROT_VAL_INTERNAL) {
mag_rot = MAG_ROT_VAL_INTERNAL;
param_set_no_notification(param_find(str), &mag_rot);
}
}
/* now get the mag rotation */
if (mag_rot >= 0) {
// Set external magnetometers to use the parameter value
_mag_rotation[topic_instance] = get_rot_matrix((enum Rotation)mag_rot);
} else {
// Set internal magnetometers to use the board rotation
_mag_rotation[topic_instance] = _board_rotation;
}
if (failed) {
PX4_ERR(CAL_ERROR_APPLY_CAL_MSG, "mag", i);
} else {
/* apply new scaling and offsets */
config_ok = applyMagCalibration(h, &mscale, device_id);
if (!config_ok) {
PX4_ERR(CAL_ERROR_APPLY_CAL_MSG, "mag ", i);
}
}
break;
}
}
}
}
void VotedSensorsUpdate::accelPoll(struct sensor_combined_s &raw)
{
float *offsets[] = {_corrections.accel_offset_0, _corrections.accel_offset_1, _corrections.accel_offset_2 };
float *scales[] = {_corrections.accel_scale_0, _corrections.accel_scale_1, _corrections.accel_scale_2 };
for (int uorb_index = 0; uorb_index < _accel.subscription_count; uorb_index++) {
bool accel_updated;
orb_check(_accel.subscription[uorb_index], &accel_updated);
if (accel_updated) {
sensor_accel_s accel_report;
int ret = orb_copy(ORB_ID(sensor_accel), _accel.subscription[uorb_index], &accel_report);
if (ret != PX4_OK || accel_report.timestamp == 0) {
continue; //ignore invalid data
}
if (!_accel.enabled[uorb_index]) {
continue;
}
// First publication with data
if (_accel.priority[uorb_index] == 0) {
int32_t priority = 0;
orb_priority(_accel.subscription[uorb_index], &priority);
_accel.priority[uorb_index] = (uint8_t)priority;
}
_accel_device_id[uorb_index] = accel_report.device_id;
Vector3f accel_data;
if (accel_report.integral_dt != 0) {
/*
* Using data that has been integrated in the driver before downsampling is preferred
* becasue it reduces aliasing errors. Correct the raw sensor data for scale factor errors
* and offsets due to temperature variation. It is assumed that any filtering of input
* data required is performed in the sensor driver, preferably before downsampling.
*/
// convert the delta velocities to an equivalent acceleration before application of corrections
float dt_inv = 1.e6f / accel_report.integral_dt;
accel_data = Vector3f(accel_report.x_integral * dt_inv,
accel_report.y_integral * dt_inv,
accel_report.z_integral * dt_inv);
_last_sensor_data[uorb_index].accelerometer_integral_dt = accel_report.integral_dt;
} else {
// using the value instead of the integral (the integral is the prefered choice)
// Correct each sensor for temperature effects
// Filtering and/or downsampling of temperature should be performed in the driver layer
accel_data = Vector3f(accel_report.x, accel_report.y, accel_report.z);
// handle the cse where this is our first output
if (_last_accel_timestamp[uorb_index] == 0) {
_last_accel_timestamp[uorb_index] = accel_report.timestamp - 1000;
}
// approximate the delta time using the difference in accel data time stamps
_last_sensor_data[uorb_index].accelerometer_integral_dt =
(accel_report.timestamp - _last_accel_timestamp[uorb_index]);
}
// handle temperature compensation
if (_temperature_compensation.apply_corrections_accel(uorb_index, accel_data, accel_report.temperature,
offsets[uorb_index], scales[uorb_index]) == 2) {
_corrections_changed = true;
}
// rotate corrected measurements from sensor to body frame
accel_data = _board_rotation * accel_data;
_last_sensor_data[uorb_index].accelerometer_m_s2[0] = accel_data(0);
_last_sensor_data[uorb_index].accelerometer_m_s2[1] = accel_data(1);
_last_sensor_data[uorb_index].accelerometer_m_s2[2] = accel_data(2);
_last_accel_timestamp[uorb_index] = accel_report.timestamp;
_accel.voter.put(uorb_index, accel_report.timestamp, _last_sensor_data[uorb_index].accelerometer_m_s2,
accel_report.error_count, _accel.priority[uorb_index]);
}
}
// find the best sensor
int best_index;
_accel.voter.get_best(hrt_absolute_time(), &best_index);
// write the best sensor data to the output variables
if (best_index >= 0) {
raw.accelerometer_integral_dt = _last_sensor_data[best_index].accelerometer_integral_dt;
memcpy(&raw.accelerometer_m_s2, &_last_sensor_data[best_index].accelerometer_m_s2, sizeof(raw.accelerometer_m_s2));
if (best_index != _accel.last_best_vote) {
_accel.last_best_vote = (uint8_t)best_index;
_corrections.selected_accel_instance = (uint8_t)best_index;
_corrections_changed = true;
}
if (_selection.accel_device_id != _accel_device_id[best_index]) {
_selection_changed = true;
_selection.accel_device_id = _accel_device_id[best_index];
}
}
}
void VotedSensorsUpdate::gyroPoll(struct sensor_combined_s &raw)
{
float *offsets[] = {_corrections.gyro_offset_0, _corrections.gyro_offset_1, _corrections.gyro_offset_2 };
float *scales[] = {_corrections.gyro_scale_0, _corrections.gyro_scale_1, _corrections.gyro_scale_2 };
for (int uorb_index = 0; uorb_index < _gyro.subscription_count; uorb_index++) {
bool gyro_updated;
orb_check(_gyro.subscription[uorb_index], &gyro_updated);
if (gyro_updated) {
sensor_gyro_s gyro_report;
int ret = orb_copy(ORB_ID(sensor_gyro), _gyro.subscription[uorb_index], &gyro_report);
if (ret != PX4_OK || gyro_report.timestamp == 0) {
continue; //ignore invalid data
}
if (!_gyro.enabled[uorb_index]) {
continue;
}
// First publication with data
if (_gyro.priority[uorb_index] == 0) {
int32_t priority = 0;
orb_priority(_gyro.subscription[uorb_index], &priority);
_gyro.priority[uorb_index] = (uint8_t)priority;
}
_gyro_device_id[uorb_index] = gyro_report.device_id;
Vector3f gyro_rate;
if (gyro_report.integral_dt != 0) {
/*
* Using data that has been integrated in the driver before downsampling is preferred
* becasue it reduces aliasing errors. Correct the raw sensor data for scale factor errors
* and offsets due to temperature variation. It is assumed that any filtering of input
* data required is performed in the sensor driver, preferably before downsampling.
*/
// convert the delta angles to an equivalent angular rate before application of corrections
float dt_inv = 1.e6f / gyro_report.integral_dt;
gyro_rate = Vector3f(gyro_report.x_integral * dt_inv,
gyro_report.y_integral * dt_inv,
gyro_report.z_integral * dt_inv);
_last_sensor_data[uorb_index].gyro_integral_dt = gyro_report.integral_dt;
} else {
//using the value instead of the integral (the integral is the prefered choice)
// Correct each sensor for temperature effects
// Filtering and/or downsampling of temperature should be performed in the driver layer
gyro_rate = Vector3f(gyro_report.x, gyro_report.y, gyro_report.z);
// handle the case where this is our first output
if (_last_sensor_data[uorb_index].timestamp == 0) {
_last_sensor_data[uorb_index].timestamp = gyro_report.timestamp - 1000;
}
// approximate the delta time using the difference in gyro data time stamps
_last_sensor_data[uorb_index].gyro_integral_dt =
(gyro_report.timestamp - _last_sensor_data[uorb_index].timestamp);
}
// handle temperature compensation
if (_temperature_compensation.apply_corrections_gyro(uorb_index, gyro_rate, gyro_report.temperature,
offsets[uorb_index], scales[uorb_index]) == 2) {
_corrections_changed = true;
}
// rotate corrected measurements from sensor to body frame
gyro_rate = _board_rotation * gyro_rate;
_last_sensor_data[uorb_index].gyro_rad[0] = gyro_rate(0);
_last_sensor_data[uorb_index].gyro_rad[1] = gyro_rate(1);
_last_sensor_data[uorb_index].gyro_rad[2] = gyro_rate(2);
_last_sensor_data[uorb_index].timestamp = gyro_report.timestamp;
_gyro.voter.put(uorb_index, gyro_report.timestamp, _last_sensor_data[uorb_index].gyro_rad,
gyro_report.error_count, _gyro.priority[uorb_index]);
}
}
// find the best sensor
int best_index;
_gyro.voter.get_best(hrt_absolute_time(), &best_index);
// write data for the best sensor to output variables
if (best_index >= 0) {
raw.timestamp = _last_sensor_data[best_index].timestamp;
raw.gyro_integral_dt = _last_sensor_data[best_index].gyro_integral_dt;
memcpy(&raw.gyro_rad, &_last_sensor_data[best_index].gyro_rad, sizeof(raw.gyro_rad));
if (_gyro.last_best_vote != best_index) {
_gyro.last_best_vote = (uint8_t)best_index;
_corrections.selected_gyro_instance = (uint8_t)best_index;
_corrections_changed = true;
}
if (_selection.gyro_device_id != _gyro_device_id[best_index]) {
_selection_changed = true;
_selection.gyro_device_id = _gyro_device_id[best_index];
}
}
}
void VotedSensorsUpdate::magPoll(vehicle_magnetometer_s &magnetometer)
{
for (int uorb_index = 0; uorb_index < _mag.subscription_count; uorb_index++) {
bool mag_updated;
orb_check(_mag.subscription[uorb_index], &mag_updated);
if (mag_updated) {
struct mag_report mag_report;
int ret = orb_copy(ORB_ID(sensor_mag), _mag.subscription[uorb_index], &mag_report);
if (ret != PX4_OK || mag_report.timestamp == 0) {
continue; //ignore invalid data
}
if (!_mag.enabled[uorb_index]) {
continue;
}
// First publication with data
if (_mag.priority[uorb_index] == 0) {
int32_t priority = 0;
orb_priority(_mag.subscription[uorb_index], &priority);
_mag.priority[uorb_index] = (uint8_t)priority;
/* force a scale and offset update the first time we get data */
parametersUpdate();
if (!_mag.enabled[uorb_index]) {
/* in case the data on the mag topic comes after the initial parameterUpdate(), we would get here since the sensor
* is enabled by default. The latest parameterUpdate() call would set enabled to false and reset priority to zero
* for disabled sensors, and we shouldn't cal voter.put() in that case
*/
continue;
}
}
Vector3f vect(mag_report.x, mag_report.y, mag_report.z);
vect = _mag_rotation[uorb_index] * vect;
_last_magnetometer[uorb_index].timestamp = mag_report.timestamp;
_last_magnetometer[uorb_index].magnetometer_ga[0] = vect(0);
_last_magnetometer[uorb_index].magnetometer_ga[1] = vect(1);
_last_magnetometer[uorb_index].magnetometer_ga[2] = vect(2);
_mag.voter.put(uorb_index, mag_report.timestamp, _last_magnetometer[uorb_index].magnetometer_ga, mag_report.error_count,
_mag.priority[uorb_index]);
}
}
int best_index;
_mag.voter.get_best(hrt_absolute_time(), &best_index);
if (best_index >= 0) {
magnetometer = _last_magnetometer[best_index];
_mag.last_best_vote = (uint8_t)best_index;
if (_selection.mag_device_id != _mag_device_id[best_index]) {
_selection_changed = true;
_selection.mag_device_id = _mag_device_id[best_index];
}
}
}
void VotedSensorsUpdate::baroPoll(vehicle_air_data_s &airdata)
{
bool got_update = false;
float *offsets[] = {&_corrections.baro_offset_0, &_corrections.baro_offset_1, &_corrections.baro_offset_2 };
float *scales[] = {&_corrections.baro_scale_0, &_corrections.baro_scale_1, &_corrections.baro_scale_2 };
for (int uorb_index = 0; uorb_index < _baro.subscription_count; uorb_index++) {
bool baro_updated;
orb_check(_baro.subscription[uorb_index], &baro_updated);
if (baro_updated) {
sensor_baro_s baro_report;
int ret = orb_copy(ORB_ID(sensor_baro), _baro.subscription[uorb_index], &baro_report);
if (ret != PX4_OK || baro_report.timestamp == 0) {
continue; //ignore invalid data
}
// Convert from millibar to Pa
float corrected_pressure = 100.0f * baro_report.pressure;
// handle temperature compensation
if (_temperature_compensation.apply_corrections_baro(uorb_index, corrected_pressure, baro_report.temperature,
offsets[uorb_index], scales[uorb_index]) == 2) {
_corrections_changed = true;
}
// First publication with data
if (_baro.priority[uorb_index] == 0) {
int32_t priority = 0;
orb_priority(_baro.subscription[uorb_index], &priority);
_baro.priority[uorb_index] = (uint8_t)priority;
}
_baro_device_id[uorb_index] = baro_report.device_id;
got_update = true;
float vect[3] = {baro_report.pressure, baro_report.temperature, 0.f};
_last_airdata[uorb_index].timestamp = baro_report.timestamp;
_last_airdata[uorb_index].baro_temp_celcius = baro_report.temperature;
_last_airdata[uorb_index].baro_pressure_pa = corrected_pressure;
_baro.voter.put(uorb_index, baro_report.timestamp, vect, baro_report.error_count, _baro.priority[uorb_index]);
}
}
if (got_update) {
int best_index;
_baro.voter.get_best(hrt_absolute_time(), &best_index);
if (best_index >= 0) {
airdata = _last_airdata[best_index];
if (_baro.last_best_vote != best_index) {
_baro.last_best_vote = (uint8_t)best_index;
_corrections.selected_baro_instance = (uint8_t)best_index;
_corrections_changed = true;
}
if (_selection.baro_device_id != _baro_device_id[best_index]) {
_selection_changed = true;
_selection.baro_device_id = _baro_device_id[best_index];
}
// calculate altitude using the hypsometric equation
static constexpr float T1 = 15.0f - CONSTANTS_ABSOLUTE_NULL_CELSIUS; /* temperature at base height in Kelvin */
static constexpr float a = -6.5f / 1000.0f; /* temperature gradient in degrees per metre */
/* current pressure at MSL in kPa (QNH in hPa)*/
const float p1 = _parameters.baro_qnh * 0.1f;
/* measured pressure in kPa */
const float p = airdata.baro_pressure_pa * 0.001f;
/*
* Solve:
*
* / -(aR / g) \
* | (p / p1) . T1 | - T1
* \ /
* h = ------------------------------- + h1
* a
*/
airdata.baro_alt_meter = (((powf((p / p1), (-(a * CONSTANTS_AIR_GAS_CONST) / CONSTANTS_ONE_G))) * T1) - T1) / a;
// calculate air density
// estimate air density assuming typical 20degC ambient temperature
// TODO: use air temperature if available (differential pressure sensors)
static constexpr float pressure_to_density = 1.0f / (CONSTANTS_AIR_GAS_CONST * (20.0f -
CONSTANTS_ABSOLUTE_NULL_CELSIUS));
airdata.rho = pressure_to_density * airdata.baro_pressure_pa;
}
}
}
bool VotedSensorsUpdate::checkFailover(SensorData &sensor, const char *sensor_name, const uint64_t type)
{
if (sensor.last_failover_count != sensor.voter.failover_count() && !_hil_enabled) {
uint32_t flags = sensor.voter.failover_state();
int failover_index = sensor.voter.failover_index();
if (flags == DataValidator::ERROR_FLAG_NO_ERROR) {
if (failover_index != -1) {
//we switched due to a non-critical reason. No need to panic.
PX4_INFO("%s sensor switch from #%i", sensor_name, failover_index);
}
} else {
if (failover_index != -1) {
mavlink_log_emergency(&_mavlink_log_pub, "%s #%i fail: %s%s%s%s%s!",
sensor_name,
failover_index,
((flags & DataValidator::ERROR_FLAG_NO_DATA) ? " OFF" : ""),
((flags & DataValidator::ERROR_FLAG_STALE_DATA) ? " STALE" : ""),
((flags & DataValidator::ERROR_FLAG_TIMEOUT) ? " TIMEOUT" : ""),
((flags & DataValidator::ERROR_FLAG_HIGH_ERRCOUNT) ? " ERR CNT" : ""),
((flags & DataValidator::ERROR_FLAG_HIGH_ERRDENSITY) ? " ERR DNST" : ""));
// reduce priority of failed sensor to the minimum
sensor.priority[failover_index] = 1;
PX4_ERR("Sensor %s #%i failed. Reconfiguring sensor priorities.", sensor_name, failover_index);
int ctr_valid = 0;
for (uint8_t i = 0; i < sensor.subscription_count; i++) {
if (sensor.priority[i] > 1) { ctr_valid++; }
PX4_WARN("Remaining sensors after failover event %u: %s #%u priority: %u", failover_index, sensor_name, i,
sensor.priority[i]);
}
if (ctr_valid < 2) {
if (ctr_valid == 0) {
// Zero valid sensors remain! Set even the primary sensor health to false
_info.subsystem_type = type;
} else if (ctr_valid == 1) {
// One valid sensor remains, set secondary sensor health to false
if (type == subsystem_info_s::SUBSYSTEM_TYPE_GYRO) { _info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_GYRO2; }
if (type == subsystem_info_s::SUBSYSTEM_TYPE_ACC) { _info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_ACC2; }
if (type == subsystem_info_s::SUBSYSTEM_TYPE_MAG) { _info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_MAG2; }
}
_info.timestamp = hrt_absolute_time();
_info.present = true;
_info.enabled = true;
_info.ok = false;
_info_pub.publish(_info);
}
}
}
sensor.last_failover_count = sensor.voter.failover_count();
return true;
}
return false;
}
void VotedSensorsUpdate::initSensorClass(const struct orb_metadata *meta, SensorData &sensor_data,
uint8_t sensor_count_max)
{
int max_sensor_index = -1;
for (unsigned i = 0; i < sensor_count_max; i++) {
if (orb_exists(meta, i) != 0) {
continue;
}
max_sensor_index = i;
if (sensor_data.subscription[i] < 0) {
sensor_data.subscription[i] = orb_subscribe_multi(meta, i);
if (i > 0) {
/* the first always exists, but for each further sensor, add a new validator */
if (!sensor_data.voter.add_new_validator()) {
PX4_ERR("failed to add validator for sensor %s %i", meta->o_name, i);
}
}
}
}
// never decrease the sensor count, as we could end up with mismatching validators
if (max_sensor_index + 1 > sensor_data.subscription_count) {
sensor_data.subscription_count = max_sensor_index + 1;
}
}
void VotedSensorsUpdate::printStatus()
{
PX4_INFO("gyro status:");
_gyro.voter.print();
PX4_INFO("accel status:");
_accel.voter.print();
PX4_INFO("mag status:");
_mag.voter.print();
PX4_INFO("baro status:");
_baro.voter.print();
_temperature_compensation.print_status();
}
bool
VotedSensorsUpdate::applyGyroCalibration(DevHandle &h, const struct gyro_calibration_s *gcal, const int device_id)
{
#if defined(__PX4_NUTTX)
/* On most systems, we can just use the IOCTL call to set the calibration params. */
return !h.ioctl(GYROIOCSSCALE, (long unsigned int)gcal);
#else
/* On QURT, the params are read directly in the respective wrappers. */
return true;
#endif
}
bool
VotedSensorsUpdate::applyAccelCalibration(DevHandle &h, const struct accel_calibration_s *acal, const int device_id)
{
#if defined(__PX4_NUTTX)
/* On most systems, we can just use the IOCTL call to set the calibration params. */
return !h.ioctl(ACCELIOCSSCALE, (long unsigned int)acal);
#else
/* On QURT, the params are read directly in the respective wrappers. */
return true;
#endif
}
bool
VotedSensorsUpdate::applyMagCalibration(DevHandle &h, const struct mag_calibration_s *mcal, const int device_id)
{
#if defined(__PX4_NUTTX)
if (!h.isValid()) {
return false;
}
/* On most systems, we can just use the IOCTL call to set the calibration params. */
return !h.ioctl(MAGIOCSSCALE, (long unsigned int)mcal);
#else
/* On QURT & POSIX, the params are read directly in the respective wrappers. */
return true;
#endif
}
void VotedSensorsUpdate::sensorsPoll(sensor_combined_s &raw, vehicle_air_data_s &airdata,
vehicle_magnetometer_s &magnetometer)
{
accelPoll(raw);
gyroPoll(raw);
magPoll(magnetometer);
baroPoll(airdata);
// publish sensor corrections if necessary
if (_corrections_changed) {
_corrections.timestamp = hrt_absolute_time();
_sensor_correction_pub.publish(_corrections);
_corrections_changed = false;
}
// publish sensor selection if changed
if (_selection_changed) {
_selection.timestamp = hrt_absolute_time();
_sensor_selection_pub.publish(_selection);
_selection_changed = false;
}
}
void VotedSensorsUpdate::checkFailover()
{
checkFailover(_accel, "Accel", subsystem_info_s::SUBSYSTEM_TYPE_ACC);
checkFailover(_gyro, "Gyro", subsystem_info_s::SUBSYSTEM_TYPE_GYRO);
checkFailover(_mag, "Mag", subsystem_info_s::SUBSYSTEM_TYPE_MAG);
checkFailover(_baro, "Baro", subsystem_info_s::SUBSYSTEM_TYPE_ABSPRESSURE);
}
void VotedSensorsUpdate::setRelativeTimestamps(sensor_combined_s &raw)
{
if (_last_accel_timestamp[_accel.last_best_vote]) {
raw.accelerometer_timestamp_relative = (int32_t)((int64_t)_last_accel_timestamp[_accel.last_best_vote] -
(int64_t)raw.timestamp);
}
}
void
VotedSensorsUpdate::calcAccelInconsistency(sensor_preflight_s &preflt)
{
float accel_diff_sum_max_sq = 0.0f; // the maximum sum of axis differences squared
unsigned check_index = 0; // the number of sensors the primary has been checked against
// Check each sensor against the primary
for (int sensor_index = 0; sensor_index < _accel.subscription_count; sensor_index++) {
// check that the sensor we are checking against is not the same as the primary
if ((_accel.priority[sensor_index] > 0) && (sensor_index != _accel.last_best_vote)) {
float accel_diff_sum_sq = 0.0f; // sum of differences squared for a single sensor comparison agains the primary
// calculate accel_diff_sum_sq for the specified sensor against the primary
for (unsigned axis_index = 0; axis_index < 3; axis_index++) {
_accel_diff[axis_index][check_index] = 0.95f * _accel_diff[axis_index][check_index] + 0.05f *
(_last_sensor_data[_accel.last_best_vote].accelerometer_m_s2[axis_index] -
_last_sensor_data[sensor_index].accelerometer_m_s2[axis_index]);
accel_diff_sum_sq += _accel_diff[axis_index][check_index] * _accel_diff[axis_index][check_index];
}
// capture the largest sum value
if (accel_diff_sum_sq > accel_diff_sum_max_sq) {
accel_diff_sum_max_sq = accel_diff_sum_sq;
}
// increment the check index
check_index++;
}
// check to see if the maximum number of checks has been reached and break
if (check_index >= 2) {
break;
}
}
// skip check if less than 2 sensors
if (check_index < 1) {
preflt.accel_inconsistency_m_s_s = 0.0f;
} else {
// get the vector length of the largest difference and write to the combined sensor struct
preflt.accel_inconsistency_m_s_s = sqrtf(accel_diff_sum_max_sq);
}
}
void VotedSensorsUpdate::calcGyroInconsistency(sensor_preflight_s &preflt)
{
float gyro_diff_sum_max_sq = 0.0f; // the maximum sum of axis differences squared
unsigned check_index = 0; // the number of sensors the primary has been checked against
// Check each sensor against the primary
for (int sensor_index = 0; sensor_index < _gyro.subscription_count; sensor_index++) {
// check that the sensor we are checking against is not the same as the primary
if ((_gyro.priority[sensor_index] > 0) && (sensor_index != _gyro.last_best_vote)) {
float gyro_diff_sum_sq = 0.0f; // sum of differences squared for a single sensor comparison against the primary
// calculate gyro_diff_sum_sq for the specified sensor against the primary
for (unsigned axis_index = 0; axis_index < 3; axis_index++) {
_gyro_diff[axis_index][check_index] = 0.95f * _gyro_diff[axis_index][check_index] + 0.05f *
(_last_sensor_data[_gyro.last_best_vote].gyro_rad[axis_index] -
_last_sensor_data[sensor_index].gyro_rad[axis_index]);
gyro_diff_sum_sq += _gyro_diff[axis_index][check_index] * _gyro_diff[axis_index][check_index];
}
// capture the largest sum value
if (gyro_diff_sum_sq > gyro_diff_sum_max_sq) {
gyro_diff_sum_max_sq = gyro_diff_sum_sq;
}
// increment the check index
check_index++;
}
// check to see if the maximum number of checks has been reached and break
if (check_index >= 2) {
break;
}
}
// skip check if less than 2 sensors
if (check_index < 1) {
preflt.gyro_inconsistency_rad_s = 0.0f;
} else {
// get the vector length of the largest difference and write to the combined sensor struct
preflt.gyro_inconsistency_rad_s = sqrtf(gyro_diff_sum_max_sq);
}
}
void VotedSensorsUpdate::calcMagInconsistency(sensor_preflight_s &preflt)
{
Vector3f primary_mag(_last_magnetometer[_mag.last_best_vote].magnetometer_ga); // primary mag field vector
float mag_angle_diff_max = 0.0f; // the maximum angle difference
unsigned check_index = 0; // the number of sensors the primary has been checked against
// Check each sensor against the primary
for (int i = 0; i < _mag.subscription_count; i++) {
// check that the sensor we are checking against is not the same as the primary
if ((_mag.priority[i] > 0) && (i != _mag.last_best_vote)) {
// calculate angle to 3D magnetic field vector of the primary sensor
Vector3f current_mag(_last_magnetometer[i].magnetometer_ga);
float angle_error = AxisAnglef(Quatf(current_mag, primary_mag)).angle();
// complementary filter to not fail/pass on single outliers
_mag_angle_diff[check_index] *= 0.95f;
_mag_angle_diff[check_index] += 0.05f * angle_error;
mag_angle_diff_max = math::max(mag_angle_diff_max, _mag_angle_diff[check_index]);
// increment the check index
check_index++;
}
// check to see if the maximum number of checks has been reached and break
if (check_index >= 2) {
break;
}
}
// get the vector length of the largest difference and write to the combined sensor struct
// will be zero if there is only one magnetometer and hence nothing to compare
preflt.mag_inconsistency_angle = mag_angle_diff_max;
}
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