mirror of
https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-21 09:22:18 +00:00
e57aaaaa5e
- rotates accel & gyro FIFO data before publication both to simplify downstream usage (including log review) and fix other issues
- to best handle int16_t data rotations are now either performed with swaps if possible, otherwise promoted to float, rotated using the full rotation matrix, then rounded back to int16_t
- fix sensors/vehicle_angular_velocity filter reset both with proper rotation and new calibration uncorrect helper
- in FIFO case filtering is done before calibration is applied, but we need to handle a possible reset from a completely different sensor (vehicle body angular velocity -> sensor frame uncorrected data)
146 lines
4.3 KiB
C++
146 lines
4.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2018-2021 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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#include "PX4Gyroscope.hpp"
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#include <lib/drivers/device/Device.hpp>
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#include <lib/parameters/param.h>
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using namespace time_literals;
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using matrix::Vector3f;
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static constexpr int32_t sum(const int16_t samples[], uint8_t len)
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{
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int32_t sum = 0;
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for (int n = 0; n < len; n++) {
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sum += samples[n];
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}
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return sum;
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}
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PX4Gyroscope::PX4Gyroscope(uint32_t device_id, enum Rotation rotation) :
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_device_id{device_id},
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_rotation{rotation}
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{
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// advertise immediately to keep instance numbering in sync
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_sensor_pub.advertise();
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param_get(param_find("IMU_GYRO_RATEMAX"), &_imu_gyro_rate_max);
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}
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PX4Gyroscope::~PX4Gyroscope()
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{
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_sensor_pub.unadvertise();
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_sensor_fifo_pub.unadvertise();
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}
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void PX4Gyroscope::set_device_type(uint8_t devtype)
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{
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// current DeviceStructure
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union device::Device::DeviceId device_id;
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device_id.devid = _device_id;
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// update to new device type
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device_id.devid_s.devtype = devtype;
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// copy back
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_device_id = device_id.devid;
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}
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void PX4Gyroscope::update(const hrt_abstime ×tamp_sample, float x, float y, float z)
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{
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// Apply rotation (before scaling)
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rotate_3f(_rotation, x, y, z);
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sensor_gyro_s report;
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report.timestamp_sample = timestamp_sample;
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report.device_id = _device_id;
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report.temperature = _temperature;
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report.error_count = _error_count;
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report.x = x * _scale;
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report.y = y * _scale;
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report.z = z * _scale;
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report.samples = 1;
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report.timestamp = hrt_absolute_time();
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_sensor_pub.publish(report);
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}
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void PX4Gyroscope::updateFIFO(sensor_gyro_fifo_s &sample)
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{
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// rotate all raw samples and publish fifo
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const uint8_t N = sample.samples;
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for (int n = 0; n < N; n++) {
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rotate_3i(_rotation, sample.x[n], sample.y[n], sample.z[n]);
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}
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sample.device_id = _device_id;
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sample.scale = _scale;
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sample.timestamp = hrt_absolute_time();
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_sensor_fifo_pub.publish(sample);
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// trapezoidal integration (equally spaced, scaled by dt later)
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const Vector3f integral{
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(0.5f * (_last_sample[0] + sample.x[N - 1]) + sum(sample.x, N - 1)),
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(0.5f * (_last_sample[1] + sample.y[N - 1]) + sum(sample.y, N - 1)),
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(0.5f * (_last_sample[2] + sample.z[N - 1]) + sum(sample.z, N - 1)),
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};
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_last_sample[0] = sample.x[N - 1];
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_last_sample[1] = sample.y[N - 1];
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_last_sample[2] = sample.z[N - 1];
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const float scale = _scale / N;
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sensor_gyro_s report;
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report.timestamp_sample = sample.timestamp_sample;
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report.device_id = _device_id;
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report.temperature = _temperature;
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report.error_count = _error_count;
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report.x = integral(0) * scale;
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report.y = integral(1) * scale;
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report.z = integral(2) * scale;
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report.samples = N;
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report.timestamp = hrt_absolute_time();
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_sensor_pub.publish(report);
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}
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