sensors: create vehicle_angular_velocity module (#12596)

* split out filtered sensor_gyro aggregation from mc_att_control and move to wq:rate_ctrl

src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp

@@ -0,0 +1,110 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <lib/perf/perf_counter.h>
+#include <px4_config.h>
+#include <px4_getopt.h>
+#include <px4_log.h>
+#include <px4_module_params.h>
+#include <lib/matrix/matrix/math.hpp>
+#include <lib/mathlib/math/Limits.hpp>
+#include <lib/mathlib/math/Functions.hpp>
+#include <lib/conversion/rotation.h>
+#include <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_gyro.h>
+#include <uORB/topics/vehicle_angular_velocity.h>
+
+#define MAX_GYRO_COUNT 3
+
+class VehicleAngularVelocity : public ModuleParams, public px4::WorkItem
+{
+public:
+
+	VehicleAngularVelocity();
+	virtual ~VehicleAngularVelocity();
+
+	void	Run() override;
+
+	bool	Start();
+	void	Stop();
+
+	void	PrintStatus();
+
+private:
+
+	void	ParametersUpdate(bool force = false);
+	void	SensorBiasUpdate(bool force = false);
+	bool	SensorCorrectionsUpdate(bool force = false);
+
+
+	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::SubscriptionCallbackWorkItem	_sensor_correction_sub{this, ORB_ID(sensor_correction)};	/**< sensor thermal correction subscription */
+	uORB::SubscriptionCallbackWorkItem	_sensor_gyro_sub[MAX_GYRO_COUNT] {				/**< gyro 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			_offset;
+	matrix::Vector3f			_scale;
+	matrix::Vector3f			_bias;
+
+	perf_counter_t				_cycle_perf;
+	perf_counter_t				_interval_perf;
+	perf_counter_t				_sensor_gyro_latency_perf;
+
+	int					_selected_gyro{-1};
+
+};