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156 lines
5.0 KiB
C++
156 lines
5.0 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2016-2020 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 <drivers/drv_hrt.h>
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#include <lib/mathlib/mathlib.h>
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#include <lib/parameters/param.h>
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#include <lib/perf/perf_counter.h>
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#include <px4_platform_common/atomic.h>
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#include <px4_platform_common/getopt.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_config.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/tasks.h>
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#include <px4_platform_common/time.h>
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#include <uORB/Publication.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/SubscriptionInterval.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_baro.h>
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#include <uORB/topics/sensor_correction.h>
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#include <uORB/topics/sensor_gyro.h>
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#include <uORB/topics/sensor_mag.h>
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#include <uORB/topics/vehicle_command.h>
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#include <uORB/topics/vehicle_command_ack.h>
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#include "TemperatureCompensation.h"
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using namespace time_literals;
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namespace temperature_compensation
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{
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class TemperatureCompensationModule : public ModuleBase<TemperatureCompensationModule>, public ModuleParams,
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public px4::ScheduledWorkItem
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{
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public:
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TemperatureCompensationModule();
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~TemperatureCompensationModule() 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 TemperatureCompensationModule *instantiate(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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/** @see ModuleBase::print_status() */
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int print_status() override;
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/**
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* Initializes scheduling on work queue.
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*/
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bool init();
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private:
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void Run() override;
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void accelPoll();
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void gyroPoll();
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void magPoll();
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void baroPoll();
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/**
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* call this whenever parameters got updated. Make sure to have initialize_sensors() called at least
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* once before calling this.
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*/
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void parameters_update();
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uORB::Subscription _accel_subs[ACCEL_COUNT_MAX] {
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{ORB_ID(sensor_accel), 0},
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{ORB_ID(sensor_accel), 1},
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{ORB_ID(sensor_accel), 2},
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{ORB_ID(sensor_accel), 3},
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};
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uORB::Subscription _gyro_subs[GYRO_COUNT_MAX] {
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{ORB_ID(sensor_gyro), 0},
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{ORB_ID(sensor_gyro), 1},
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{ORB_ID(sensor_gyro), 2},
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{ORB_ID(sensor_gyro), 3},
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};
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uORB::Subscription _mag_subs[MAG_COUNT_MAX] {
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{ORB_ID(sensor_mag), 0},
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{ORB_ID(sensor_mag), 1},
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{ORB_ID(sensor_mag), 2},
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{ORB_ID(sensor_mag), 3},
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};
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uORB::Subscription _baro_subs[BARO_COUNT_MAX] {
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{ORB_ID(sensor_baro), 0},
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{ORB_ID(sensor_baro), 1},
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{ORB_ID(sensor_baro), 2},
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{ORB_ID(sensor_baro), 3},
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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_command_sub{ORB_ID(vehicle_command)};
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perf_counter_t _loop_perf; /**< loop performance counter */
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orb_advert_t _mavlink_log_pub{nullptr};
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/* sensor thermal compensation */
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TemperatureCompensation _temperature_compensation;
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sensor_correction_s _corrections{}; /**< struct containing the sensor corrections to be published to the uORB*/
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uORB::Publication<sensor_correction_s> _sensor_correction_pub{ORB_ID(sensor_correction)};
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bool _corrections_changed{true};
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};
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} // namespace temperature_compensation
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