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110 lines
4.0 KiB
C++
110 lines
4.0 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2021-2022 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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#pragma once
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#include <px4_platform_common/defines.h>
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#include <px4_platform_common/module.h>
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#include <px4_platform_common/module_params.h>
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#include <px4_platform_common/posix.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <drivers/drv_hrt.h>
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#include <lib/mathlib/math/WelfordMean.hpp>
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#include <lib/perf/perf_counter.h>
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#include <lib/sensor_calibration/Gyroscope.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/SubscriptionInterval.hpp>
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#include <uORB/SubscriptionMultiArray.hpp>
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#include <uORB/topics/parameter_update.h>
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#include <uORB/topics/sensor_accel.h>
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#include <uORB/topics/sensor_gyro.h>
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#include <uORB/topics/vehicle_status.h>
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#include <uORB/topics/vehicle_status_flags.h>
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using namespace time_literals;
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class GyroCalibration : public ModuleBase<GyroCalibration>, public ModuleParams, public px4::ScheduledWorkItem
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{
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public:
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GyroCalibration();
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~GyroCalibration() override;
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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static int custom_command(int argc, char *argv[]);
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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bool init();
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int print_status() override;
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private:
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static constexpr hrt_abstime INTERVAL_US = 20000_us;
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static constexpr int MAX_SENSORS = 4;
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void Run() override;
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void Reset()
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{
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for (auto &m : _gyro_mean) {
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m.reset();
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}
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}
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uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
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uORB::Subscription _vehicle_status_sub{ORB_ID::vehicle_status};
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uORB::Subscription _vehicle_status_flags_sub{ORB_ID::vehicle_status_flags};
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uORB::SubscriptionMultiArray<sensor_accel_s, MAX_SENSORS> _sensor_accel_subs{ORB_ID::sensor_accel};
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uORB::SubscriptionMultiArray<sensor_gyro_s, MAX_SENSORS> _sensor_gyro_subs{ORB_ID::sensor_gyro};
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calibration::Gyroscope _gyro_calibration[MAX_SENSORS] {};
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math::WelfordMean<float, 3> _gyro_mean[MAX_SENSORS] {};
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float _temperature[MAX_SENSORS] {};
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hrt_abstime _gyro_last_update[MAX_SENSORS] {};
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matrix::Vector3f _acceleration[MAX_SENSORS] {};
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hrt_abstime _last_calibration_update{0};
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bool _armed{false};
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bool _system_calibrating{false};
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perf_counter_t _loop_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": interval")};
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perf_counter_t _calibration_updated_perf{perf_alloc(PC_COUNT, MODULE_NAME": calibration updated")};
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};
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