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 <lib/mathlib/math/filter/LowPassFilter2pArray.hpp>
#include <lib/mathlib/math/filter/LowPassFilter2pVector3f.hpp>
#include <lib/mathlib/math/filter/NotchFilter.hpp>
#include <px4_platform_common/log.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/px4_config.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/estimator_sensor_bias.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/sensor_correction.h>
#include <uORB/topics/sensor_gyro.h>
#include <uORB/topics/sensor_selection.h>
#include <uORB/topics/vehicle_angular_velocity.h>

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

	VehicleAngularVelocity();
	~VehicleAngularVelocity() override;

	bool Start();
	void Stop();

	void PrintStatus();

private:
	void Run() override;

	void CheckFilters(const matrix::Vector3f &rates);
	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(
		(ParamFloat<px4::params::IMU_GYRO_CUTOFF>) _param_imu_gyro_cutoff,
		(ParamFloat<px4::params::IMU_GYRO_NF_FREQ>) _param_imu_gyro_nf_freq,
		(ParamFloat<px4::params::IMU_GYRO_NF_BW>) _param_imu_gyro_nf_bw,
		(ParamInt<px4::params::IMU_GYRO_RATEMAX>) _param_imu_gyro_rate_max,

		(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)};
	uORB::Subscription _estimator_sensor_bias_sub{ORB_ID(estimator_sensor_bias)};
	uORB::Subscription _sensor_correction_sub{ORB_ID(sensor_correction)};

	uORB::SubscriptionCallbackWorkItem _sensor_selection_sub{this, ORB_ID(sensor_selection)};
	uORB::SubscriptionCallbackWorkItem _sensor_sub[MAX_SENSOR_COUNT] {
		{this, ORB_ID(sensor_gyro), 0},
		{this, ORB_ID(sensor_gyro), 1},
		{this, ORB_ID(sensor_gyro), 2}
	};

	perf_counter_t _interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": interval")};

	matrix::Dcmf _board_rotation;

	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};

	hrt_abstime _last_publish{0};
	hrt_abstime _filter_check_last{0};
	static constexpr const float kInitialRateHz{1000.0f}; /**< sensor update rate used for initialization */
	float _update_rate_hz{kInitialRateHz}; /**< current rate-controller loop update rate in [Hz] */
	math::LowPassFilter2pVector3f _lowpass_filter{kInitialRateHz, 30};
	math::NotchFilter<matrix::Vector3f> _notch_filter{};
	float _filter_sample_rate{kInitialRateHz};
	int _sample_rate_incorrect_count{0};

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