bizhang_-obav/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp

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#include "VehicleAcceleration.hpp"

#include <px4_platform_common/log.h>

using namespace matrix;
using namespace time_literals;
using math::radians;

VehicleAcceleration::VehicleAcceleration() :
	ModuleParams(nullptr),
	WorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl)
{
}

VehicleAcceleration::~VehicleAcceleration()
{
	Stop();
}

bool VehicleAcceleration::Start()
{
	// force initial updates
	ParametersUpdate(true);

	// sensor_selection needed to change the active sensor if the primary stops updating
	if (!_sensor_selection_sub.registerCallback()) {
		PX4_ERR("sensor_selection callback registration failed");
		return false;
	}

	ScheduleNow();
	return true;
}

void VehicleAcceleration::Stop()
{
	Deinit();

	// clear all registered callbacks
	for (auto &sub : _sensor_sub) {
		sub.unregisterCallback();
	}

	_sensor_selection_sub.unregisterCallback();
}

void VehicleAcceleration::SensorBiasUpdate(bool force)
{
	if (_estimator_sensor_bias_sub.updated() || force) {
		estimator_sensor_bias_s bias;

		if (_estimator_sensor_bias_sub.copy(&bias)) {
			if (bias.accel_device_id == _selected_sensor_device_id) {
				_bias = Vector3f{bias.accel_bias};

			} else {
				_bias.zero();
			}
		}
	}
}

void VehicleAcceleration::SensorCorrectionsUpdate(bool force)
{
	// check if the selected sensor has updated
	if (_sensor_correction_sub.updated() || force) {

		sensor_correction_s corrections{};
		_sensor_correction_sub.copy(&corrections);

		// selected sensor has changed, find updated index
		if ((_corrections_selected_instance < 0) || force) {
			_corrections_selected_instance = -1;

			// find sensor_corrections index
			for (int i = 0; i < MAX_SENSOR_COUNT; i++) {
				if (corrections.accel_device_ids[i] == _selected_sensor_device_id) {
					_corrections_selected_instance = i;
				}
			}
		}

		switch (_corrections_selected_instance) {
		case 0:
			_offset = Vector3f{corrections.accel_offset_0};
			_scale = Vector3f{corrections.accel_scale_0};
			break;
		case 1:
			_offset = Vector3f{corrections.accel_offset_1};
			_scale = Vector3f{corrections.accel_scale_1};
			break;
		case 2:
			_offset = Vector3f{corrections.accel_offset_2};
			_scale = Vector3f{corrections.accel_scale_2};
			break;
		default:
			_offset = Vector3f{0.f, 0.f, 0.f};
			_scale = Vector3f{1.f, 1.f, 1.f};
		}
	}
}

bool VehicleAcceleration::SensorSelectionUpdate(bool force)
{
	if (_sensor_selection_sub.updated() || (_selected_sensor_device_id == 0) || force) {
		sensor_selection_s sensor_selection{};
		_sensor_selection_sub.copy(&sensor_selection);

		if (_selected_sensor_device_id != sensor_selection.accel_device_id) {
			// clear all registered callbacks
			for (auto &sub : _sensor_sub) {
				sub.unregisterCallback();
			}

			for (int i = 0; i < MAX_SENSOR_COUNT; i++) {
				sensor_accel_s report{};
				_sensor_sub[i].copy(&report);

				if ((report.device_id != 0) && (report.device_id == sensor_selection.accel_device_id)) {
					if (_sensor_sub[i].registerCallback()) {
						PX4_DEBUG("selected sensor changed %d -> %d", _selected_sensor_sub_index, i);

						// record selected sensor (array index)
						_selected_sensor_sub_index = i;
						_selected_sensor_device_id = sensor_selection.accel_device_id;

						// clear bias and corrections
						_bias.zero();
						_offset = Vector3f{0.f, 0.f, 0.f};
						_scale = Vector3f{1.f, 1.f, 1.f};

						// force corrections reselection
						_corrections_selected_instance = -1;

						return true;
					}
				}
			}

			PX4_ERR("unable to find or subscribe to selected sensor (%d)", sensor_selection.accel_device_id);
			_selected_sensor_device_id = 0;
			_selected_sensor_sub_index = 0;
		}
	}

	return false;
}

void VehicleAcceleration::ParametersUpdate(bool force)
{
	// Check if parameters have changed
	if (_params_sub.updated() || force) {
		// clear update
		parameter_update_s param_update;
		_params_sub.copy(&param_update);

		updateParams();

		// get transformation matrix from sensor/board to body frame
		const Dcmf board_rotation = get_rot_matrix((enum Rotation)_param_sens_board_rot.get());

		// fine tune the rotation
		const Dcmf board_rotation_offset(Eulerf(
				radians(_param_sens_board_x_off.get()),
				radians(_param_sens_board_y_off.get()),
				radians(_param_sens_board_z_off.get())));

		_board_rotation = board_rotation_offset * board_rotation;
	}
}

void VehicleAcceleration::Run()
{
	// update corrections first to set _selected_sensor
	bool sensor_select_update = SensorSelectionUpdate();
	SensorCorrectionsUpdate(sensor_select_update);
	SensorBiasUpdate(sensor_select_update);
	ParametersUpdate();

	if (_sensor_sub[_selected_sensor_sub_index].updated() || sensor_select_update) {
		sensor_accel_s sensor_data;

		if (_sensor_sub[_selected_sensor_sub_index].copy(&sensor_data)) {
			// get the sensor data and correct for thermal errors (apply offsets and scale)
			const Vector3f val{sensor_data.x, sensor_data.y, sensor_data.z};

			// apply offsets and scale
			Vector3f accel{(val - _offset).emult(_scale)};

			// rotate corrected measurements from sensor to body frame
			accel = _board_rotation * accel;

			// correct for in-run bias errors
			accel -= _bias;

			// publish
			vehicle_acceleration_s out;

			out.timestamp_sample = sensor_data.timestamp_sample;
			accel.copyTo(out.xyz);
			out.timestamp = hrt_absolute_time();

			_vehicle_acceleration_pub.publish(out);
		}
	}
}

void VehicleAcceleration::PrintStatus()
{
	PX4_INFO("selected sensor: %d (%d)", _selected_sensor_device_id, _selected_sensor_sub_index);
	PX4_INFO("bias: [%.3f %.3f %.3f]", (double)_bias(0), (double)_bias(1), (double)_bias(2));
	PX4_INFO("offset: [%.3f %.3f %.3f]", (double)_offset(0), (double)_offset(1), (double)_offset(2));
	PX4_INFO("scale: [%.3f %.3f %.3f]", (double)_scale(0), (double)_scale(1), (double)_scale(2));
}