mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-15 05:27:36 +08:00
Daniel Agar
bbb19f7c7f
- introduce SENS_GNSS instance configuration and GPS blending updates
- SENS_GNSSx_ID
- SENS_GNSSx_{X,Y,Z}POS
132 lines
4.5 KiB
C++
132 lines
4.5 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2019 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 "gyroCheck.hpp"
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#include <lib/sensor/calibration/Utilities.hpp>
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using namespace time_literals;
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void GyroChecks::checkAndReport(const Context &context, Report &reporter)
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{
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for (int instance = 0; instance < _sensor_gyro_sub.size(); instance++) {
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const bool is_required = instance == 0 || isGyroRequired(instance);
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if (!is_required) {
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continue;
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}
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const bool exists = _sensor_gyro_sub[instance].advertised();
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bool is_valid = false;
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bool is_calibration_valid = false;
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if (exists) {
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sensor_gyro_s gyro_data;
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is_valid = _sensor_gyro_sub[instance].copy(&gyro_data) && (gyro_data.device_id != 0) && (gyro_data.timestamp != 0)
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&& (hrt_elapsed_time(&gyro_data.timestamp) < 1_s);
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if (context.status().hil_state == vehicle_status_s::HIL_STATE_ON) {
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is_calibration_valid = true;
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} else {
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is_calibration_valid = (sensor::calibration::FindCurrentCalibrationIndex("GYRO", gyro_data.device_id) >= 0);
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}
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reporter.setIsPresent(health_component_t::gyro);
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}
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const bool is_sensor_ok = is_valid && is_calibration_valid;
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if (!is_sensor_ok) {
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if (!exists) {
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/* EVENT
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*/
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reporter.healthFailure<uint8_t>(NavModes::All, health_component_t::gyro, events::ID("check_gyro_missing"),
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events::Log::Error, "Gyro sensor {1} missing", instance);
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if (reporter.mavlink_log_pub()) {
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mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Gyro Sensor %u missing", instance);
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}
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} else if (!is_valid) {
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/* EVENT
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*/
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reporter.healthFailure<uint8_t>(NavModes::All, health_component_t::gyro, events::ID("check_gyro_no_data"),
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events::Log::Error, "No valid data from Gyro {1}", instance);
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if (reporter.mavlink_log_pub()) {
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mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: No valid data from Gyro %u", instance);
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}
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} else if (!is_calibration_valid) {
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/* EVENT
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*/
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reporter.armingCheckFailure<uint8_t>(NavModes::All, health_component_t::gyro, events::ID("check_gyro_not_calibrated"),
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events::Log::Error, "Gyro {1} uncalibrated", instance);
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if (reporter.mavlink_log_pub()) {
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mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Gyro %u uncalibrated", instance);
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}
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}
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}
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}
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}
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bool GyroChecks::isGyroRequired(int instance)
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{
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sensor_gyro_s sensor_gyro;
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if (!_sensor_gyro_sub[instance].copy(&sensor_gyro)) {
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return false;
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}
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const uint32_t device_id = static_cast<uint32_t>(sensor_gyro.device_id);
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if (device_id == 0) {
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return false;
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}
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bool is_used_by_nav = false;
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for (int i = 0; i < _estimator_status_sub.size(); i++) {
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estimator_status_s estimator_status;
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if (_estimator_status_sub[i].copy(&estimator_status) && estimator_status.gyro_device_id == device_id) {
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is_used_by_nav = true;
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break;
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}
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}
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return is_used_by_nav;
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}
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