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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.
126 lines
5.0 KiB
C++
126 lines
5.0 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2019 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 <lib/conversion/rotation.h>
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#include <lib/mathlib/math/Limits.hpp>
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#include <lib/matrix/matrix/math.hpp>
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#include <lib/mathlib/math/filter/LowPassFilter2pArray.hpp>
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#include <lib/mathlib/math/filter/LowPassFilter2pVector3f.hpp>
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#include <lib/mathlib/math/filter/NotchFilter.hpp>
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#include <px4_platform_common/log.h>
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#include <px4_platform_common/module_params.h>
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
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#include <uORB/Publication.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/SubscriptionCallback.hpp>
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#include <uORB/topics/estimator_sensor_bias.h>
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#include <uORB/topics/parameter_update.h>
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#include <uORB/topics/sensor_correction.h>
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#include <uORB/topics/sensor_gyro.h>
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#include <uORB/topics/sensor_selection.h>
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#include <uORB/topics/vehicle_angular_velocity.h>
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class VehicleAngularVelocity : public ModuleParams, public px4::WorkItem
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{
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public:
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VehicleAngularVelocity();
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~VehicleAngularVelocity() override;
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bool Start();
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void Stop();
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void PrintStatus();
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private:
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void Run() override;
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void CheckFilters(const matrix::Vector3f &rates);
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void ParametersUpdate(bool force = false);
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void SensorBiasUpdate(bool force = false);
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void SensorCorrectionsUpdate(bool force = false);
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bool SensorSelectionUpdate(bool force = false);
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static constexpr int MAX_SENSOR_COUNT = 3;
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DEFINE_PARAMETERS(
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(ParamFloat<px4::params::IMU_GYRO_CUTOFF>) _param_imu_gyro_cutoff,
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(ParamFloat<px4::params::IMU_GYRO_NF_FREQ>) _param_imu_gyro_nf_freq,
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(ParamFloat<px4::params::IMU_GYRO_NF_BW>) _param_imu_gyro_nf_bw,
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(ParamInt<px4::params::IMU_GYRO_RATEMAX>) _param_imu_gyro_rate_max,
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(ParamInt<px4::params::SENS_BOARD_ROT>) _param_sens_board_rot,
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(ParamFloat<px4::params::SENS_BOARD_X_OFF>) _param_sens_board_x_off,
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(ParamFloat<px4::params::SENS_BOARD_Y_OFF>) _param_sens_board_y_off,
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(ParamFloat<px4::params::SENS_BOARD_Z_OFF>) _param_sens_board_z_off
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)
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uORB::Publication<vehicle_angular_velocity_s> _vehicle_angular_velocity_pub{ORB_ID(vehicle_angular_velocity)};
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uORB::Subscription _params_sub{ORB_ID(parameter_update)};
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uORB::Subscription _estimator_sensor_bias_sub{ORB_ID(estimator_sensor_bias)};
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uORB::Subscription _sensor_correction_sub{ORB_ID(sensor_correction)};
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uORB::SubscriptionCallbackWorkItem _sensor_selection_sub{this, ORB_ID(sensor_selection)};
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uORB::SubscriptionCallbackWorkItem _sensor_sub[MAX_SENSOR_COUNT] {
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{this, ORB_ID(sensor_gyro), 0},
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{this, ORB_ID(sensor_gyro), 1},
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{this, ORB_ID(sensor_gyro), 2}
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};
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perf_counter_t _interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": interval")};
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matrix::Dcmf _board_rotation;
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matrix::Vector3f _bias{0.f, 0.f, 0.f};
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matrix::Vector3f _offset{0.f, 0.f, 0.f};
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matrix::Vector3f _scale{1.f, 1.f, 1.f};
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hrt_abstime _last_publish{0};
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hrt_abstime _filter_check_last{0};
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static constexpr const float kInitialRateHz{1000.0f}; /**< sensor update rate used for initialization */
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float _update_rate_hz{kInitialRateHz}; /**< current rate-controller loop update rate in [Hz] */
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math::LowPassFilter2pVector3f _lowpass_filter{kInitialRateHz, 30};
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math::NotchFilter<matrix::Vector3f> _notch_filter{};
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float _filter_sample_rate{kInitialRateHz};
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int _sample_rate_incorrect_count{0};
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uint32_t _selected_sensor_device_id{0};
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uint8_t _selected_sensor_sub_index{0};
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int8_t _corrections_selected_instance{-1};
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};
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