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24f0c2d72a
- gyro filtering (low-pass and notch) only performed on primary gyro in `sensors/vehicle_angular_velocity` instead of every gyro in `PX4Gyroscope` - sample rate is calculated from actual updates (the fixed value was slightly wrong in many cases, and very wrong in a few) - In the FIFO case the array is now averaged and published in `sensor_gyro` for filtering downstream. I'll update this in the future to use the full FIFO array (if available), but right now it should be fine.
134 lines
4.9 KiB
C++
134 lines
4.9 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2018 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_gyro.h>
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#include <drivers/drv_hrt.h>
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#include <lib/cdev/CDev.hpp>
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#include <lib/conversion/rotation.h>
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#include <lib/drivers/device/integrator.h>
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#include <uORB/PublicationMulti.hpp>
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#include <uORB/topics/sensor_gyro.h>
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#include <uORB/topics/sensor_gyro_fifo.h>
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#include <uORB/topics/sensor_gyro_integrated.h>
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#include <uORB/topics/sensor_gyro_status.h>
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class PX4Gyroscope : public cdev::CDev
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{
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public:
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PX4Gyroscope(uint32_t device_id, uint8_t priority = ORB_PRIO_DEFAULT, enum Rotation rotation = ROTATION_NONE);
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~PX4Gyroscope() override;
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int ioctl(cdev::file_t *filp, int cmd, unsigned long arg) override;
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uint32_t get_device_id() const { return _device_id; }
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void set_device_id(uint32_t device_id) { _device_id = device_id; }
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void set_device_type(uint8_t devtype);
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void set_error_count(uint64_t error_count) { _error_count += error_count; }
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void set_range(float range) { _range = range; UpdateClipLimit(); }
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void set_scale(float scale) { _scale = scale; UpdateClipLimit(); }
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void set_temperature(float temperature) { _temperature = temperature; }
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void set_update_rate(uint16_t rate);
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void update(hrt_abstime timestamp_sample, float x, float y, float z);
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void print_status();
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struct FIFOSample {
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hrt_abstime timestamp_sample;
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uint8_t samples; // number of samples
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float dt; // in microseconds
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int16_t x[16];
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int16_t y[16];
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int16_t z[16];
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};
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static_assert(sizeof(FIFOSample::x) == sizeof(sensor_gyro_fifo_s::x), "FIFOSample.x invalid size");
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static_assert(sizeof(FIFOSample::y) == sizeof(sensor_gyro_fifo_s::y), "FIFOSample.y invalid size");
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static_assert(sizeof(FIFOSample::z) == sizeof(sensor_gyro_fifo_s::z), "FIFOSample.z invalid size");
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void updateFIFO(const FIFOSample &sample);
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private:
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void PublishStatus();
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void ResetIntegrator();
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void UpdateClipLimit();
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void UpdateVibrationMetrics(const matrix::Vector3f &delta_angle);
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uORB::PublicationMulti<sensor_gyro_s> _sensor_pub;
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uORB::PublicationMulti<sensor_gyro_fifo_s> _sensor_fifo_pub;
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uORB::PublicationMulti<sensor_gyro_integrated_s> _sensor_integrated_pub;
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uORB::PublicationMulti<sensor_gyro_status_s> _sensor_status_pub;
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hrt_abstime _status_last_publish{0};
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Integrator _integrator{4000, true};
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matrix::Vector3f _calibration_offset{0.f, 0.f, 0.f};
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matrix::Vector3f _delta_angle_prev{0.f, 0.f, 0.f}; // delta angle from the previous IMU measurement
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float _vibration_metric{0.f}; // high frequency vibration level in the IMU delta angle data (rad)
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float _coning_vibration{0.f}; // Level of coning vibration in the IMU delta angles (rad^2)
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int _class_device_instance{-1};
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uint32_t _device_id{0};
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const enum Rotation _rotation;
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const matrix::Dcmf _rotation_dcm;
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float _range{math::radians(2000.f)};
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float _scale{1.f};
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float _temperature{0.f};
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int16_t _clip_limit{(int16_t)(_range / _scale)};
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uint64_t _error_count{0};
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uint32_t _clipping[3] {};
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uint16_t _update_rate{1000};
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// integrator
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hrt_abstime _timestamp_sample_prev{0};
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matrix::Vector3f _integration_raw{};
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int16_t _last_sample[3] {};
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uint8_t _integrator_reset_samples{4};
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uint8_t _integrator_samples{0};
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uint8_t _integrator_fifo_samples{0};
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uint8_t _integrator_clipping{0};
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};
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