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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Daniel Agar
971b1e4b4d
- purge all reminaing magnetometer IOCTL usage - mag calibration add off diagonal (soft iron) scale factors
141 lines
4.8 KiB
C++
141 lines
4.8 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include "data_validator/DataValidatorGroup.hpp"
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#include <lib/sensor_calibration/Magnetometer.hpp>
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#include <lib/conversion/rotation.h>
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#include <lib/mathlib/math/Limits.hpp>
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#include <lib/matrix/matrix/math.hpp>
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#include <lib/perf/perf_counter.h>
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#include <lib/systemlib/mavlink_log.h>
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#include <px4_platform_common/log.h>
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#include <px4_platform_common/module_params.h>
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <uORB/Publication.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/SubscriptionCallback.hpp>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/battery_status.h>
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#include <uORB/topics/parameter_update.h>
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#include <uORB/topics/sensor_mag.h>
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#include <uORB/topics/sensor_preflight_mag.h>
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#include <uORB/topics/vehicle_control_mode.h>
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#include <uORB/topics/vehicle_magnetometer.h>
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namespace sensors
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{
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class VehicleMagnetometer : public ModuleParams, public px4::ScheduledWorkItem
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{
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public:
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VehicleMagnetometer();
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~VehicleMagnetometer() override;
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bool Start();
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void Stop();
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void PrintStatus();
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private:
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void Run() override;
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void ParametersUpdate(bool force = false);
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/**
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* Calculates the magnitude in Gauss of the largest difference between the primary and any other magnetometers
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*/
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void calcMagInconsistency();
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static constexpr int MAX_SENSOR_COUNT = 4;
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uORB::Publication<sensor_preflight_mag_s> _sensor_preflight_mag_pub{ORB_ID(sensor_preflight_mag)};
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uORB::Publication<vehicle_magnetometer_s> _vehicle_magnetometer_pub{ORB_ID(vehicle_magnetometer)};
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uORB::Subscription _actuator_controls_0_sub{ORB_ID(actuator_controls_0)};
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uORB::Subscription _battery_status_sub{ORB_ID(battery_status), 0};
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uORB::Subscription _params_sub{ORB_ID(parameter_update)};
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uORB::Subscription _vcontrol_mode_sub{ORB_ID(vehicle_control_mode)};
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uORB::SubscriptionCallbackWorkItem _sensor_sub[MAX_SENSOR_COUNT] {
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{this, ORB_ID(sensor_mag), 0},
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{this, ORB_ID(sensor_mag), 1},
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{this, ORB_ID(sensor_mag), 2},
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{this, ORB_ID(sensor_mag), 3}
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};
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calibration::Magnetometer _calibration[MAX_SENSOR_COUNT];
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// Magnetometer interference compensation
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enum class MagCompensationType {
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Disabled = 0,
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Throttle,
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Current_inst0,
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Current_inst1
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};
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MagCompensationType _mag_comp_type{MagCompensationType::Disabled};
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perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
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hrt_abstime _last_publication_timestamp{0};
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hrt_abstime _last_error_message{0};
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orb_advert_t _mavlink_log_pub{nullptr};
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DataValidatorGroup _voter{1};
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unsigned _last_failover_count{0};
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uint64_t _mag_timestamp_sum{0};
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matrix::Vector3f _mag_sum{};
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int _mag_sum_count{0};
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sensor_mag_s _last_data[MAX_SENSOR_COUNT] {};
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bool _advertised[MAX_SENSOR_COUNT] {};
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float _mag_angle_diff[2] {}; /**< filtered mag angle differences between sensor instances (Ga) */
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uint8_t _priority[MAX_SENSOR_COUNT] {};
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int8_t _selected_sensor_sub_index{-1};
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bool _armed{false}; /**< arming status of the vehicle */
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DEFINE_PARAMETERS(
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(ParamInt<px4::params::CAL_MAG_COMP_TYP>) _param_mag_comp_typ,
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(ParamFloat<px4::params::SENS_MAG_RATE>) _param_sens_mag_rate
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)
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};
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}; // namespace sensors
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