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107 lines
3.9 KiB
C++
107 lines
3.9 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 <px4_platform_common/px4_config.h>
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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_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/parameter_update.h>
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#include <uORB/topics/sensor_bias.h>
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#include <uORB/topics/sensor_correction.h>
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#include <uORB/topics/sensor_selection.h>
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#include <uORB/topics/sensor_accel.h>
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#include <uORB/topics/vehicle_acceleration.h>
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class VehicleAcceleration : public ModuleParams, public px4::WorkItem
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{
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public:
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VehicleAcceleration();
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~VehicleAcceleration() 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 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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(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_acceleration_s> _vehicle_acceleration_pub{ORB_ID(vehicle_acceleration)};
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uORB::Subscription _params_sub{ORB_ID(parameter_update)};
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uORB::Subscription _sensor_bias_sub{ORB_ID(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_accel), 0},
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{this, ORB_ID(sensor_accel), 1},
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{this, ORB_ID(sensor_accel), 2}
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};
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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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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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