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https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
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3269ee8df1
- apply sensor scaling immediately to keep things simple (FIFO vs regular)
- inline filter helpers (minor performance improvement)
- dynamic notch filtering
- reorder by axis (applied per axis)
- don't remove notch filters immediately if ESC or FFT data times out
- constrain notch filter frequency and bandwidth to safe range (minimum bandwidth for flaot precision, Nyquist, etc)
- add safe constraint on dt
194 lines
7.6 KiB
C++
194 lines
7.6 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2019-2021 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 <containers/Bitset.hpp>
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#include <lib/sensor_calibration/Gyroscope.hpp>
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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/LowPassFilter2p.hpp>
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#include <lib/mathlib/math/filter/LowPassFilter2pArray.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/ScheduledWorkItem.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/esc_status.h>
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#include <uORB/topics/estimator_selector_status.h>
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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_gyro.h>
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#include <uORB/topics/sensor_gyro_fft.h>
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#include <uORB/topics/sensor_gyro_fifo.h>
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#include <uORB/topics/sensor_selection.h>
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#include <uORB/topics/vehicle_angular_acceleration.h>
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#include <uORB/topics/vehicle_angular_velocity.h>
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using namespace time_literals;
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namespace sensors
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{
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class VehicleAngularVelocity : public ModuleParams, public px4::ScheduledWorkItem
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{
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public:
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VehicleAngularVelocity();
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~VehicleAngularVelocity() override;
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void PrintStatus();
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bool Start();
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void Stop();
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private:
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void Run() override;
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void CalibrateAndPublish(bool publish, const hrt_abstime ×tamp_sample, const matrix::Vector3f &angular_velocity,
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const matrix::Vector3f &angular_acceleration);
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inline float FilterAngularVelocity(int axis, float data[], int N = 1);
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inline float FilterAngularAcceleration(int axis, float dt_s, float data[], int N = 1);
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void DisableDynamicNotchEscRpm();
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void DisableDynamicNotchFFT();
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void ParametersUpdate(bool force = false);
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void ResetFilters();
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void SensorBiasUpdate(bool force = false);
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bool SensorSelectionUpdate(bool force = false);
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void UpdateDynamicNotchEscRpm(bool force = false);
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void UpdateDynamicNotchFFT(bool force = false);
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bool UpdateSampleRate();
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// scaled appropriately for current sensor
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matrix::Vector3f GetResetAngularVelocity() const;
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matrix::Vector3f GetResetAngularAcceleration() const;
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static constexpr int MAX_SENSOR_COUNT = 4;
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uORB::Publication<vehicle_angular_acceleration_s> _vehicle_angular_acceleration_pub{ORB_ID(vehicle_angular_acceleration)};
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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 _estimator_selector_status_sub{ORB_ID(estimator_selector_status)};
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uORB::Subscription _estimator_sensor_bias_sub{ORB_ID(estimator_sensor_bias)};
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#if !defined(CONSTRAINED_FLASH)
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uORB::Subscription _esc_status_sub {ORB_ID(esc_status)};
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uORB::Subscription _sensor_gyro_fft_sub {ORB_ID(sensor_gyro_fft)};
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#endif // !CONSTRAINED_FLASH
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uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
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uORB::SubscriptionCallbackWorkItem _sensor_selection_sub{this, ORB_ID(sensor_selection)};
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uORB::SubscriptionCallbackWorkItem _sensor_sub{this, ORB_ID(sensor_gyro)};
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uORB::SubscriptionCallbackWorkItem _sensor_fifo_sub{this, ORB_ID(sensor_gyro_fifo)};
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calibration::Gyroscope _calibration{};
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matrix::Vector3f _bias{};
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matrix::Vector3f _angular_velocity{};
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matrix::Vector3f _angular_velocity_prev{};
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matrix::Vector3f _angular_acceleration{};
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matrix::Vector3f _angular_velocity_raw_prev{};
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hrt_abstime _timestamp_sample_last{0};
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hrt_abstime _publish_interval_min_us{0};
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hrt_abstime _last_publish{0};
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float _filter_sample_rate_hz{NAN};
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static constexpr const float kInitialRateHz{1000.f}; /**< sensor update rate used for initialization */
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// angular velocity filters
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math::LowPassFilter2pArray _lp_filter_velocity[3] {{kInitialRateHz, 30.f}, {kInitialRateHz, 30.f}, {kInitialRateHz, 30.f}};
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math::NotchFilter<float> _notch_filter_velocity[3] {};
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#if !defined(CONSTRAINED_FLASH)
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enum DynamicNotch {
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EscRpm = 1,
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FFT = 2,
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};
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static constexpr hrt_abstime DYNAMIC_NOTCH_FITLER_TIMEOUT = 1_s;
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static constexpr int MAX_NUM_ESC_RPM = sizeof(esc_status_s::esc) / sizeof(esc_status_s::esc[0]);
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static constexpr int MAX_NUM_ESC_RPM_HARMONICS = 3;
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static constexpr int MAX_NUM_FFT_PEAKS = sizeof(sensor_gyro_fft_s::peak_frequencies_x) / sizeof(
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sensor_gyro_fft_s::peak_frequencies_x[0]);
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math::NotchFilter<float> _dynamic_notch_filter_esc_rpm[3][MAX_NUM_ESC_RPM][MAX_NUM_ESC_RPM_HARMONICS] {};
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math::NotchFilter<float> _dynamic_notch_filter_fft[3][MAX_NUM_FFT_PEAKS] {};
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px4::Bitset<MAX_NUM_ESC_RPM> _esc_available{};
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hrt_abstime _last_esc_rpm_notch_update[MAX_NUM_ESC_RPM] {};
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perf_counter_t _dynamic_notch_filter_esc_rpm_update_perf{nullptr};
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perf_counter_t _dynamic_notch_filter_fft_update_perf{nullptr};
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perf_counter_t _dynamic_notch_filter_esc_rpm_perf{nullptr};
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perf_counter_t _dynamic_notch_filter_fft_perf{nullptr};
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bool _dynamic_notch_esc_rpm_available{false};
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bool _dynamic_notch_fft_available{false};
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#endif // !CONSTRAINED_FLASH
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// angular acceleration filter
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math::LowPassFilter2p _lp_filter_acceleration[3] {{kInitialRateHz, 30.f}, {kInitialRateHz, 30.f}, {kInitialRateHz, 30.f}};
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uint32_t _selected_sensor_device_id{0};
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bool _reset_filters{true};
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bool _fifo_available{false};
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perf_counter_t _filter_reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": gyro filter reset")};
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perf_counter_t _selection_changed_perf{perf_alloc(PC_COUNT, MODULE_NAME": gyro selection changed")};
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DEFINE_PARAMETERS(
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#if !defined(CONSTRAINED_FLASH)
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(ParamInt<px4::params::IMU_GYRO_DYN_NF>) _param_imu_gyro_dyn_nf,
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#endif // !CONSTRAINED_FLASH
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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_ratemax,
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(ParamFloat<px4::params::IMU_DGYRO_CUTOFF>) _param_imu_dgyro_cutoff
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)
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};
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} // namespace sensors
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