mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-28 06:50:35 +08:00
Daniel Agar
e57aaaaa5e
- rotates accel & gyro FIFO data before publication both to simplify downstream usage (including log review) and fix other issues
- to best handle int16_t data rotations are now either performed with swaps if possible, otherwise promoted to float, rotated using the full rotation matrix, then rounded back to int16_t
- fix sensors/vehicle_angular_velocity filter reset both with proper rotation and new calibration uncorrect helper
- in FIFO case filtering is done before calibration is applied, but we need to handle a possible reset from a completely different sensor (vehicle body angular velocity -> sensor frame uncorrected data)
88 lines
3.3 KiB
C++
88 lines
3.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2018-2021 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 <drivers/drv_hrt.h>
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#include <lib/conversion/rotation.h>
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#include <lib/ecl/geo/geo.h>
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#include <uORB/PublicationMulti.hpp>
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#include <uORB/topics/sensor_accel.h>
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#include <uORB/topics/sensor_accel_fifo.h>
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class PX4Accelerometer
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{
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public:
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PX4Accelerometer(uint32_t device_id, enum Rotation rotation = ROTATION_NONE);
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~PX4Accelerometer();
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uint32_t get_device_id() const { return _device_id; }
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int32_t get_max_rate_hz() const { return _imu_gyro_rate_max; }
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void set_device_id(uint32_t device_id) { _device_id = device_id; }
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void set_device_type(uint8_t devtype);
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void set_error_count(uint32_t error_count) { _error_count = error_count; }
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void increase_error_count() { _error_count++; }
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void set_range(float range) { _range = range; UpdateClipLimit(); }
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void set_scale(float scale) { _scale = scale; UpdateClipLimit(); }
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void set_temperature(float temperature) { _temperature = temperature; }
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void update(const hrt_abstime ×tamp_sample, float x, float y, float z);
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void updateFIFO(sensor_accel_fifo_s &sample);
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int get_instance() { return _sensor_pub.get_instance(); };
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private:
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void UpdateClipLimit();
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uORB::PublicationMulti<sensor_accel_s> _sensor_pub{ORB_ID(sensor_accel)};
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uORB::PublicationMulti<sensor_accel_fifo_s> _sensor_fifo_pub{ORB_ID(sensor_accel_fifo)};
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uint32_t _device_id{0};
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const enum Rotation _rotation;
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int32_t _imu_gyro_rate_max{0}; // match gyro max rate
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float _range{16 * CONSTANTS_ONE_G};
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float _scale{1.f};
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float _temperature{NAN};
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float _clip_limit{_range / _scale};
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uint32_t _error_count{0};
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int16_t _last_sample[3] {};
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};
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