mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-04 08:40:34 +08:00
Daniel Agar
130 lines
4.5 KiB
C++
130 lines
4.5 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2021 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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#ifndef VIBRATION_HPP
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#define VIBRATION_HPP
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#include <uORB/topics/sensor_selection.h>
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#include <uORB/topics/vehicle_imu_status.h>
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class MavlinkStreamVibration : public MavlinkStream
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{
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public:
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static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamVibration(mavlink); }
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static constexpr const char *get_name_static() { return "VIBRATION"; }
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static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_VIBRATION; }
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const char *get_name() const override { return get_name_static(); }
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uint16_t get_id() override { return get_id_static(); }
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unsigned get_size() override
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{
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if (_sensor_selection_sub.advertised() && _vehicle_imu_status_subs.advertised()) {
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return MAVLINK_MSG_ID_VIBRATION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
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}
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return 0;
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}
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private:
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explicit MavlinkStreamVibration(Mavlink *mavlink) : MavlinkStream(mavlink) {}
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uORB::Subscription _sensor_selection_sub{ORB_ID(sensor_selection)};
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uORB::SubscriptionMultiArray<vehicle_imu_status_s, 3> _vehicle_imu_status_subs{ORB_ID::vehicle_imu_status};
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bool send() override
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{
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if (_vehicle_imu_status_subs.updated()) {
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mavlink_vibration_t msg{};
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msg.time_usec = hrt_absolute_time();
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// VIBRATION usage not to mavlink spec, this is our current usage.
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// vibration_x : Primary gyro delta angle coning metric = filtered length of (delta_angle x prev_delta_angle)
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// vibration_y : Primary gyro high frequency vibe = filtered length of (delta_angle - prev_delta_angle)
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// vibration_z : Primary accel high frequency vibe = filtered length of (delta_velocity - prev_delta_velocity)
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sensor_selection_s sensor_selection{};
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_sensor_selection_sub.copy(&sensor_selection);
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// primary accel high frequency vibration metric
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if (sensor_selection.accel_device_id != 0) {
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for (auto &x : _vehicle_imu_status_subs) {
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vehicle_imu_status_s status;
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if (x.copy(&status)) {
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if (status.accel_device_id == sensor_selection.accel_device_id) {
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msg.vibration_x = status.gyro_coning_vibration;
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msg.vibration_y = status.gyro_vibration_metric;
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msg.vibration_z = status.accel_vibration_metric;
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break;
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}
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}
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}
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}
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// accel 0, 1, 2 cumulative clipping
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for (int i = 0; i < math::min(static_cast<uint8_t>(3), _vehicle_imu_status_subs.size()); i++) {
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vehicle_imu_status_s status;
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if (_vehicle_imu_status_subs[i].copy(&status)) {
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const uint32_t clipping = status.accel_clipping[0] + status.accel_clipping[1] + status.accel_clipping[2];
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switch (i) {
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case 0:
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msg.clipping_0 = clipping;
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break;
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case 1:
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msg.clipping_1 = clipping;
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break;
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case 2:
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msg.clipping_2 = clipping;
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break;
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}
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}
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}
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mavlink_msg_vibration_send_struct(_mavlink->get_channel(), &msg);
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return true;
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}
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return false;
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}
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};
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#endif // VIBRATION_HPP
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