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102 lines
3.7 KiB
C++
102 lines
3.7 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020 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 <lib/mathlib/math/Limits.hpp>
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#include <lib/matrix/matrix/math.hpp>
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#include <lib/perf/perf_counter.h>
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#include <px4_platform_common/log.h>
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#include <px4_platform_common/module_params.h>
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <uORB/Publication.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/SubscriptionCallback.hpp>
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#include <uORB/topics/parameter_update.h>
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#include <uORB/topics/sensor_gps.h>
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#include "gps_blending.hpp"
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using namespace time_literals;
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namespace sensors
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{
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class VehicleGPSPosition : public ModuleParams, public px4::ScheduledWorkItem
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{
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public:
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VehicleGPSPosition();
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~VehicleGPSPosition() override;
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bool Start();
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void Stop();
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void PrintStatus();
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private:
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void Run() override;
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void ParametersUpdate(bool force = false);
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// defines used to specify the mask position for use of different accuracy metrics in the GPS blending algorithm
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static constexpr uint8_t BLEND_MASK_USE_SPD_ACC = 1;
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static constexpr uint8_t BLEND_MASK_USE_HPOS_ACC = 2;
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static constexpr uint8_t BLEND_MASK_USE_VPOS_ACC = 4;
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// define max number of GPS receivers supported
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static constexpr int GPS_MAX_RECEIVERS = 2;
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static_assert(GPS_MAX_RECEIVERS == GpsBlending::GPS_MAX_RECEIVERS_BLEND,
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"GPS_MAX_RECEIVERS must match to GPS_MAX_RECEIVERS_BLEND");
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uORB::Publication<sensor_gps_s> _vehicle_gps_position_pub{ORB_ID(vehicle_gps_position)};
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uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
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uORB::SubscriptionCallbackWorkItem _sensor_gps_sub[GPS_MAX_RECEIVERS] { /**< sensor data subscription */
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{this, ORB_ID(sensor_gps), 0},
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{this, ORB_ID(sensor_gps), 1},
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};
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perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
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GpsBlending _gps_blending;
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DEFINE_PARAMETERS(
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(ParamInt<px4::params::SENS_GPS_MASK>) _param_sens_gps_mask,
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(ParamFloat<px4::params::SENS_GPS_TAU>) _param_sens_gps_tau,
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(ParamInt<px4::params::SENS_GPS_PRIME>) _param_sens_gps_prime
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)
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};
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}; // namespace sensors
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