PX4-Autopilot/src/modules/sensors/voted_sensors_update.h

/****************************************************************************
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 *   Copyright (c) 2016 PX4 Development Team. All rights reserved.
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 * modification, are permitted provided that the following conditions
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#pragma once

/**
 * @file voted_sensors_update.h
 *
 * @author Beat Kueng <beat-kueng@gmx.net>
 */

#include "parameters.h"

#include <drivers/drv_accel.h>
#include <drivers/drv_gyro.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_baro.h>
#include <drivers/drv_hrt.h>

#include <mathlib/mathlib.h>

#include <lib/ecl/validation/data_validator.h>
#include <lib/ecl/validation/data_validator_group.h>

#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/sensor_preflight.h>
#include <uORB/topics/sensor_correction.h>

#include <DevMgr.hpp>

#include "temperature_compensation.h"

namespace sensors
{

static const int SENSOR_COUNT_MAX = 3;

/**
 ** class VotedSensorsUpdate
 *
 * Handling of sensor updates with voting
 */
class VotedSensorsUpdate
{
public:
	/**
	 * @param parameters parameter values. These do not have to be initialized when constructing this object.
	 * Only when calling init(), they have to be initialized.
	 */
	VotedSensorsUpdate(const Parameters &parameters);

	/**
	 * initialize subscriptions etc.
	 * @return 0 on success, <0 otherwise
	 */
	int init(sensor_combined_s &raw);

	/**
	 * This tries to find new sensor instances. This is called from init(), then it can be called periodically.
	 */
	void initialize_sensors();

	/**
	 * deinitialize the object (we cannot use the destructor because it is called on the wrong thread)
	 */
	void deinit();

	void print_status();

	/** get the latest baro pressure */
	float baro_pressure() const { return _last_best_baro_pressure; }

	/**
	 * call this whenever parameters got updated
	 */
	void parameters_update();

	/**
	 * read new sensor data
	 */
	void sensors_poll(sensor_combined_s &raw);

	/**
	 * set the relative timestamps of each sensor timestamp, based on the last sensors_poll,
	 * so that the data can be published.
	 */
	void set_relative_timestamps(sensor_combined_s &raw);

	/**
	 * check if a failover event occured. if so, report it.
	 */
	void check_failover();

	/**
	 * check vibration levels and output a warning if they're high
	 * @return true on high vibration
	 */
	bool check_vibration();


	int num_gyros() const { return _gyro.subscription_count; }
	int gyro_fd(int idx) const { return _gyro.subscription[idx]; }

	int best_gyro_fd() const { return _gyro.subscription[_gyro.last_best_vote]; }

	/**
	 * Calculates the magnitude in m/s/s of the largest difference between the primary and any other accel sensor
	 */
	void calc_accel_inconsistency(sensor_preflight_s &preflt);

	/**
	 * Calculates the magnitude in rad/s of the largest difference between the primary and any other gyro sensor
	 */
	void calc_gyro_inconsistency(struct sensor_preflight_s &preflt);

private:

	struct SensorData {
		SensorData()
			: last_best_vote(0),
			  subscription_count(0),
			  voter(1),
			  last_failover_count(0)
		{
			for (unsigned i = 0; i < SENSOR_COUNT_MAX; i++) {
				subscription[i] = -1;
				priority[i] = 0;
			}
		}

		int subscription[SENSOR_COUNT_MAX]; /**< raw sensor data subscription */
		uint8_t priority[SENSOR_COUNT_MAX]; /**< sensor priority */
		uint8_t last_best_vote; /**< index of the latest best vote */
		int subscription_count;
		DataValidatorGroup voter;
		unsigned int last_failover_count;
	};

	void	init_sensor_class(const struct orb_metadata *meta, SensorData &sensor_data);

	/**
	 * 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);

	/**
	 * Check & handle failover of a sensor
	 * @return true if a switch occured (could be for a non-critical reason)
	 */
	bool check_failover(SensorData &sensor, const char *sensor_name);

	/**
	 * 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(DriverFramework::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(DriverFramework::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(DriverFramework::DevHandle &h, const struct mag_calibration_s *mcal, const int device_id);


	SensorData _gyro;
	SensorData _accel;
	SensorData _mag;
	SensorData _baro;

	orb_advert_t	_mavlink_log_pub = nullptr;

	float _last_baro_pressure[SENSOR_COUNT_MAX]; /**< pressure from last baro sensors */
	float _last_best_baro_pressure = 0.f; /**< pressure from last best baro */
	sensor_combined_s _last_sensor_data[SENSOR_COUNT_MAX]; /**< latest sensor data from all sensors instances */
	uint64_t _last_accel_timestamp[SENSOR_COUNT_MAX]; /**< latest full timestamp */
	uint64_t _last_mag_timestamp[SENSOR_COUNT_MAX]; /**< latest full timestamp */
	uint64_t _last_baro_timestamp[SENSOR_COUNT_MAX]; /**< latest full timestamp */

	hrt_abstime _vibration_warning_timestamp = 0;
	bool _vibration_warning = false;

	math::Matrix<3, 3>	_board_rotation = {};	/**< rotation matrix for the orientation that the board is mounted */
	math::Matrix<3, 3>	_mag_rotation[SENSOR_COUNT_MAX] = {};	/**< rotation matrix for the orientation that the external mag0 is mounted */

	const Parameters &_parameters;

	float _accel_diff[3][2];	/**< filtered accel differences between IMU units (m/s/s) */
	float _gyro_diff[3][2];		/**< filtered gyro differences between IMU uinits (rad/s) */

	/* sensor thermal compensation */
	TemperatureCompensation _temperature_compensation;
	float _accel_offset[SENSOR_COUNT_MAX][3]; /**< offsets to be added to the raw accel data after scale factor correction */
	float _accel_scale[SENSOR_COUNT_MAX][3]; /**< scale factor corrections to be applied to the raw accel data before offsets are added */
	float _gyro_offset[SENSOR_COUNT_MAX][3]; /**< offsets to be added to the raw angular rate data after scale factor correction */
	float _gyro_scale[SENSOR_COUNT_MAX][3]; /**< scale factor corrections to be applied to the raw angular rate data before offsets are added */
	float _baro_offset[SENSOR_COUNT_MAX]; /**< offsets to be added to the raw baro pressure data after scale factor correction */
	float _baro_scale[SENSOR_COUNT_MAX]; /**< scale factor corrections to be applied to the raw barp pressure data before offsets are added */
	struct sensor_correction_s _corrections; /**< struct containing the sensor corrections to be published to the uORB*/
	orb_advert_t _sensor_correction_pub = nullptr; /**< handle to the sensor correction uORB topic */
	bool _corrections_changed = false;

	static const double	_msl_pressure;	/** average sea-level pressure in kPa */
};



} /* namespace sensors */