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154 lines
4.3 KiB
C++
154 lines
4.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020-2022 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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#include "VehicleGPSPosition.hpp"
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#include <px4_platform_common/log.h>
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#include <lib/geo/geo.h>
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#include <lib/mathlib/mathlib.h>
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namespace sensors
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{
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VehicleGPSPosition::VehicleGPSPosition() :
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ModuleParams(nullptr),
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ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers)
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{
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_vehicle_gps_position_pub.advertise();
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}
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VehicleGPSPosition::~VehicleGPSPosition()
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{
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Stop();
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perf_free(_cycle_perf);
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}
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bool VehicleGPSPosition::Start()
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{
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// force initial updates
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ParametersUpdate(true);
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ScheduleNow();
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return true;
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}
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void VehicleGPSPosition::Stop()
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{
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Deinit();
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// clear all registered callbacks
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for (auto &sub : _sensor_gps_sub) {
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sub.unregisterCallback();
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}
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}
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void VehicleGPSPosition::ParametersUpdate(bool force)
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{
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// Check if parameters have changed
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if (_parameter_update_sub.updated() || force) {
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// clear update
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parameter_update_s param_update;
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_parameter_update_sub.copy(¶m_update);
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updateParams();
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if (_param_sens_gps_mask.get() == 0) {
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_sensor_gps_sub[0].registerCallback();
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} else {
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for (auto &sub : _sensor_gps_sub) {
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sub.registerCallback();
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}
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}
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_gps_blending.setBlendingUseSpeedAccuracy(_param_sens_gps_mask.get() & BLEND_MASK_USE_SPD_ACC);
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_gps_blending.setBlendingUseHPosAccuracy(_param_sens_gps_mask.get() & BLEND_MASK_USE_HPOS_ACC);
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_gps_blending.setBlendingUseVPosAccuracy(_param_sens_gps_mask.get() & BLEND_MASK_USE_VPOS_ACC);
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_gps_blending.setBlendingTimeConstant(_param_sens_gps_tau.get());
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_gps_blending.setPrimaryInstance(_param_sens_gps_prime.get());
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}
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}
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void VehicleGPSPosition::Run()
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{
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perf_begin(_cycle_perf);
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ParametersUpdate();
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// Check all GPS instance
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bool any_gps_updated = false;
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bool gps_updated = false;
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for (uint8_t i = 0; i < GPS_MAX_RECEIVERS; i++) {
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gps_updated = _sensor_gps_sub[i].updated();
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sensor_gps_s gps_data;
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if (gps_updated) {
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any_gps_updated = true;
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_sensor_gps_sub[i].copy(&gps_data);
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_gps_blending.setGpsData(gps_data, i);
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if (!_sensor_gps_sub[i].registered()) {
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_sensor_gps_sub[i].registerCallback();
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}
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}
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}
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if (any_gps_updated) {
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_gps_blending.update(hrt_absolute_time());
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if (_gps_blending.isNewOutputDataAvailable()) {
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sensor_gps_s gps_output{_gps_blending.getOutputGpsData()};
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// clear device_id if blending
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if (_gps_blending.getSelectedGps() == GpsBlending::GPS_MAX_RECEIVERS_BLEND) {
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gps_output.device_id = 0;
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}
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_vehicle_gps_position_pub.publish(gps_output);
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}
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}
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ScheduleDelayed(300_ms); // backup schedule
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perf_end(_cycle_perf);
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}
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void VehicleGPSPosition::PrintStatus()
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{
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PX4_INFO_RAW("[vehicle_gps_position] selected GPS: %d\n", _gps_blending.getSelectedGps());
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}
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}; // namespace sensors
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