mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-23 07:03:33 +08:00
Daniel Agar
0c31f63896
- sensor_baro.msg use SI (pressure in Pascals) - update all barometer drivers to publish directly and remove PX4Barometer helper - introduce baro cal (offset) mainly as a mechanism to adjust relative priority - commander: add simple baro cal that sets baro offsets to align with GPS altitude (if available) - create new sensors_status.msg to generalize sensor reporting
134 lines
4.6 KiB
C++
134 lines
4.6 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2020-2022 PX4 Development Team. All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
#pragma once
|
|
|
|
#include "data_validator/DataValidatorGroup.hpp"
|
|
|
|
#include <lib/sensor_calibration/Barometer.hpp>
|
|
#include <lib/mathlib/math/Limits.hpp>
|
|
#include <lib/matrix/matrix/math.hpp>
|
|
#include <lib/perf/perf_counter.h>
|
|
#include <lib/systemlib/mavlink_log.h>
|
|
#include <px4_platform_common/log.h>
|
|
#include <px4_platform_common/module_params.h>
|
|
#include <px4_platform_common/px4_config.h>
|
|
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
|
#include <uORB/Publication.hpp>
|
|
#include <uORB/PublicationMulti.hpp>
|
|
#include <uORB/Subscription.hpp>
|
|
#include <uORB/SubscriptionMultiArray.hpp>
|
|
#include <uORB/SubscriptionCallback.hpp>
|
|
#include <uORB/topics/differential_pressure.h>
|
|
#include <uORB/topics/parameter_update.h>
|
|
#include <uORB/topics/sensor_baro.h>
|
|
#include <uORB/topics/sensors_status.h>
|
|
#include <uORB/topics/vehicle_air_data.h>
|
|
|
|
using namespace time_literals;
|
|
|
|
namespace sensors
|
|
{
|
|
class VehicleAirData : public ModuleParams, public px4::ScheduledWorkItem
|
|
{
|
|
public:
|
|
|
|
VehicleAirData();
|
|
~VehicleAirData() override;
|
|
|
|
bool Start();
|
|
void Stop();
|
|
|
|
void PrintStatus();
|
|
|
|
private:
|
|
void Run() override;
|
|
|
|
void AirTemperatureUpdate();
|
|
void CheckFailover(const hrt_abstime &time_now_us);
|
|
bool ParametersUpdate(bool force = false);
|
|
void UpdateStatus();
|
|
|
|
float PressureToAltitude(float pressure_pa, float temperature = 15.f) const;
|
|
|
|
static constexpr int MAX_SENSOR_COUNT = 4;
|
|
|
|
uORB::Publication<sensors_status_s> _sensors_status_baro_pub{ORB_ID(sensors_status_baro)};
|
|
|
|
uORB::Publication<vehicle_air_data_s> _vehicle_air_data_pub{ORB_ID(vehicle_air_data)};
|
|
|
|
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
|
|
|
|
uORB::Subscription _differential_pressure_sub{ORB_ID(differential_pressure)};
|
|
|
|
uORB::SubscriptionCallbackWorkItem _sensor_sub[MAX_SENSOR_COUNT] {
|
|
{this, ORB_ID(sensor_baro), 0},
|
|
{this, ORB_ID(sensor_baro), 1},
|
|
{this, ORB_ID(sensor_baro), 2},
|
|
{this, ORB_ID(sensor_baro), 3},
|
|
};
|
|
|
|
calibration::Barometer _calibration[MAX_SENSOR_COUNT];
|
|
|
|
perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
|
|
|
|
hrt_abstime _last_error_message{0};
|
|
orb_advert_t _mavlink_log_pub{nullptr};
|
|
|
|
DataValidatorGroup _voter{1};
|
|
unsigned _last_failover_count{0};
|
|
|
|
uint64_t _timestamp_sample_sum[MAX_SENSOR_COUNT] {0};
|
|
float _data_sum[MAX_SENSOR_COUNT] {};
|
|
float _temperature_sum[MAX_SENSOR_COUNT] {};
|
|
int _data_sum_count[MAX_SENSOR_COUNT] {};
|
|
hrt_abstime _last_publication_timestamp[MAX_SENSOR_COUNT] {};
|
|
|
|
float _last_data[MAX_SENSOR_COUNT] {};
|
|
bool _advertised[MAX_SENSOR_COUNT] {};
|
|
|
|
float _sensor_diff[MAX_SENSOR_COUNT] {}; // filtered differences between sensor instances
|
|
|
|
uint8_t _priority[MAX_SENSOR_COUNT] {};
|
|
|
|
int8_t _selected_sensor_sub_index{-1};
|
|
|
|
float _air_temperature_celsius{20.f}; // initialize with typical 20degC ambient temperature
|
|
|
|
DEFINE_PARAMETERS(
|
|
(ParamFloat<px4::params::SENS_BARO_QNH>) _param_sens_baro_qnh,
|
|
(ParamFloat<px4::params::SENS_BARO_RATE>) _param_sens_baro_rate
|
|
)
|
|
};
|
|
}; // namespace sensors
|