bizhang_-obav/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp

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#pragma once

#include <lib/conversion/rotation.h>
#include <lib/mathlib/math/Limits.hpp>
#include <lib/matrix/matrix/math.hpp>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/sensor_bias.h>
#include <uORB/topics/sensor_correction.h>
#include <uORB/topics/sensor_selection.h>

#include <uORB/topics/sensor_gyro.h>
#include <uORB/topics/vehicle_angular_velocity.h>

class VehicleAngularVelocity : public ModuleParams, public px4::WorkItem
{
public:

	VehicleAngularVelocity();
	~VehicleAngularVelocity() override;

	void	Run() override;

	bool	Start();
	void	Stop();

	void	PrintStatus();

private:
	void ParametersUpdate(bool force = false);
	void SensorBiasUpdate(bool force = false);
	void SensorCorrectionsUpdate(bool force = false);
	bool SensorSelectionUpdate(bool force = false);

	static constexpr int MAX_SENSOR_COUNT = 3;

	DEFINE_PARAMETERS(
		(ParamInt<px4::params::SENS_BOARD_ROT>) _param_sens_board_rot,

		(ParamFloat<px4::params::SENS_BOARD_X_OFF>) _param_sens_board_x_off,
		(ParamFloat<px4::params::SENS_BOARD_Y_OFF>) _param_sens_board_y_off,
		(ParamFloat<px4::params::SENS_BOARD_Z_OFF>) _param_sens_board_z_off
	)

	uORB::Publication<vehicle_angular_velocity_s>	_vehicle_angular_velocity_pub{ORB_ID(vehicle_angular_velocity)};

	uORB::Subscription			_params_sub{ORB_ID(parameter_update)};			/**< parameter updates subscription */
	uORB::Subscription			_sensor_bias_sub{ORB_ID(sensor_bias)};			/**< sensor in-run bias correction subscription */
	uORB::Subscription			_sensor_correction_sub{ORB_ID(sensor_correction)};	/**< sensor thermal correction subscription */

	uORB::SubscriptionCallbackWorkItem	_sensor_selection_sub{this, ORB_ID(sensor_selection)};	/**< selected primary sensor subscription */
	uORB::SubscriptionCallbackWorkItem	_sensor_sub[MAX_SENSOR_COUNT] {				/**< sensor data subscription */
		{this, ORB_ID(sensor_gyro), 0},
		{this, ORB_ID(sensor_gyro), 1},
		{this, ORB_ID(sensor_gyro), 2}
	};

	matrix::Dcmf				_board_rotation;				/**< rotation matrix for the orientation that the board is mounted */

	matrix::Vector3f			_bias{0.f, 0.f, 0.f};
	matrix::Vector3f			_offset{0.f, 0.f, 0.f};
	matrix::Vector3f			_scale{1.f, 1.f, 1.f};

	uint32_t				_selected_sensor_device_id{0};
	uint8_t					_selected_sensor_sub_index{0};
	int8_t					_corrections_selected_instance{-1};
};