mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-18 07:40:36 +08:00
Daniel Agar
115 lines
4.0 KiB
C++
115 lines
4.0 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 SCALED_IMU_HPP
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#define SCALED_IMU_HPP
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#include <lib/geo/geo.h>
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#include <lib/matrix/matrix/math.hpp>
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#include <uORB/topics/sensor_mag.h>
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#include <uORB/topics/vehicle_imu.h>
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class MavlinkStreamScaledIMU : public MavlinkStream
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{
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public:
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static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamScaledIMU(mavlink); }
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static constexpr const char *get_name_static() { return "SCALED_IMU"; }
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static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_SCALED_IMU; }
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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 (_vehicle_imu_sub.advertised() || _sensor_mag_sub.advertised()) {
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return MAVLINK_MSG_ID_SCALED_IMU_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 MavlinkStreamScaledIMU(Mavlink *mavlink) : MavlinkStream(mavlink) {}
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uORB::Subscription _vehicle_imu_sub{ORB_ID(vehicle_imu), 0};
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uORB::Subscription _sensor_mag_sub{ORB_ID(sensor_mag), 0};
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bool send() override
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{
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if (_vehicle_imu_sub.updated() || _sensor_mag_sub.updated()) {
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mavlink_scaled_imu_t msg{};
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vehicle_imu_s imu;
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if (_vehicle_imu_sub.copy(&imu)) {
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msg.time_boot_ms = imu.timestamp / 1000;
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// Accelerometer in mG
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const float accel_dt_inv = 1.e6f / (float)imu.delta_velocity_dt;
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const Vector3f accel = Vector3f{imu.delta_velocity} * accel_dt_inv * 1000.0f / CONSTANTS_ONE_G;
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msg.xacc = (int16_t)accel(0);
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msg.yacc = (int16_t)accel(1);
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msg.zacc = (int16_t)accel(2);
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// Gyroscope in mrad/s
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const float gyro_dt_inv = 1.e6f / (float)imu.delta_velocity_dt;
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const Vector3f gyro = Vector3f{imu.delta_angle} * gyro_dt_inv * 1000.0f;
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msg.xgyro = gyro(0);
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msg.ygyro = gyro(1);
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msg.zgyro = gyro(2);
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}
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sensor_mag_s sensor_mag;
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if (_sensor_mag_sub.copy(&sensor_mag)) {
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if (msg.time_boot_ms == 0) {
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msg.time_boot_ms = sensor_mag.timestamp / 1000;
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}
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msg.xmag = sensor_mag.x * 1000.0f; // Gauss -> MilliGauss
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msg.ymag = sensor_mag.y * 1000.0f; // Gauss -> MilliGauss
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msg.zmag = sensor_mag.z * 1000.0f; // Gauss -> MilliGauss
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msg.temperature = sensor_mag.temperature;
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}
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mavlink_msg_scaled_imu_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 /* SCALED_IMU_HPP */
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