/****************************************************************************
*
* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file sensors.cpp
*
* PX4 Flight Core transitional mapping layer.
*
* This app / class mapps the PX4 middleware layer / drivers to the application
* layer of the PX4 Flight Core. Individual sensors can be accessed directly as
* well instead of relying on the sensor_combined topic.
*
* @author Lorenz Meier <lorenz@px4.io>
* @author Julian Oes <julian@px4.io>
* @author Thomas Gubler <thomas@px4.io>
* @author Anton Babushkin <anton@px4.io>
*/
#include <nuttx/config.h>
#include <fcntl.h>
#include <poll.h>
#include <unistd.h>
#include <stdlib.h>
#include <string.h>
#include <stdbool.h>
#include <stdio.h>
#include <errno.h>
#include <math.h>
#include <mathlib/mathlib.h>
#include <nuttx/analog/adc.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_gyro.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_baro.h>
#include <drivers/drv_rc_input.h>
#include <drivers/drv_adc.h>
#include <drivers/drv_airspeed.h>
#include <drivers/drv_px4flow.h>
#include <systemlib/systemlib.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
#include <systemlib/perf_counter.h>
#include <conversion/rotation.h>
#include <systemlib/airspeed.h>
#include <uORB/uORB.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/rc_parameter_map.h>
/**
* Analog layout:
* FMU:
* IN2 - battery voltage
* IN3 - battery current
* IN4 - 5V sense
* IN10 - spare (we could actually trim these from the set)
* IN11 - spare (we could actually trim these from the set)
* IN12 - spare (we could actually trim these from the set)
* IN13 - aux1
* IN14 - aux2
* IN15 - pressure sensor
*
* IO:
* IN4 - servo supply rail
* IN5 - analog RSSI
*/
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
#define ADC_BATTERY_VOLTAGE_CHANNEL 10
#define ADC_BATTERY_CURRENT_CHANNEL -1
#define ADC_AIRSPEED_VOLTAGE_CHANNEL 11
#endif
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
#define ADC_BATTERY_VOLTAGE_CHANNEL 2
#define ADC_BATTERY_CURRENT_CHANNEL 3
#define ADC_5V_RAIL_SENSE 4
#define ADC_AIRSPEED_VOLTAGE_CHANNEL 15
#endif
#ifdef CONFIG_ARCH_BOARD_AEROCORE
#define ADC_BATTERY_VOLTAGE_CHANNEL 10
#define ADC_BATTERY_CURRENT_CHANNEL -1
#define ADC_AIRSPEED_VOLTAGE_CHANNEL -1
#endif
#define BATT_V_LOWPASS 0.001f
#define BATT_V_IGNORE_THRESHOLD 4.8f
/**
* HACK - true temperature is much less than indicated temperature in baro,
* subtract 5 degrees in an attempt to account for the electrical upheating of the PCB
*/
#define PCB_TEMP_ESTIMATE_DEG 5.0f
#define STICK_ON_OFF_LIMIT 0.75f
#define MAG_ROT_VAL_INTERNAL -1
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
#define CAL_FAILED_APPLY_CAL_MSG "FAILED APPLYING SENSOR CAL"
/**
* Sensor app start / stop handling function
*
* @ingroup apps
*/
extern "C" __EXPORT int sensors_main(int argc, char *argv[]);
class Sensors
{
public:
/**
* Constructor
*/
Sensors();
/**
* Destructor, also kills the sensors task.
*/
~Sensors();
/**
* Start the sensors task.
*
* @return OK on success.
*/
int start();
private:
static const unsigned _rc_max_chan_count = RC_INPUT_MAX_CHANNELS; /**< maximum number of r/c channels we handle */
/**
* Get and limit value for specified RC function. Returns NAN if not mapped.
*/
float get_rc_value(uint8_t func, float min_value, float max_value);
/**
* Get switch position for specified function.
*/
switch_pos_t get_rc_sw3pos_position(uint8_t func, float on_th, bool on_inv, float mid_th, bool mid_inv);
switch_pos_t get_rc_sw2pos_position(uint8_t func, float on_th, bool on_inv);
/**
* Update paramters from RC channels if the functionality is activated and the
* input has changed since the last update
*
* @param
*/
void set_params_from_rc();
/**
* Gather and publish RC input data.
*/
void rc_poll();
/* XXX should not be here - should be own driver */
int _fd_adc; /**< ADC driver handle */
hrt_abstime _last_adc; /**< last time we took input from the ADC */
bool _task_should_exit; /**< if true, sensor task should exit */
int _sensors_task; /**< task handle for sensor task */
bool _hil_enabled; /**< if true, HIL is active */
bool _publishing; /**< if true, we are publishing sensor data */
int _gyro_sub; /**< raw gyro0 data subscription */
int _accel_sub; /**< raw accel0 data subscription */
int _mag_sub; /**< raw mag0 data subscription */
int _gyro1_sub; /**< raw gyro1 data subscription */
int _accel1_sub; /**< raw accel1 data subscription */
int _mag1_sub; /**< raw mag1 data subscription */
int _gyro2_sub; /**< raw gyro2 data subscription */
int _accel2_sub; /**< raw accel2 data subscription */
int _mag2_sub; /**< raw mag2 data subscription */
int _rc_sub; /**< raw rc channels data subscription */
int _baro_sub; /**< raw baro data subscription */
int _baro1_sub; /**< raw baro data subscription */
int _airspeed_sub; /**< airspeed subscription */
int _diff_pres_sub; /**< raw differential pressure subscription */
int _vcontrol_mode_sub; /**< vehicle control mode subscription */
int _params_sub; /**< notification of parameter updates */
int _rc_parameter_map_sub; /**< rc parameter map subscription */
int _manual_control_sub; /**< notification of manual control updates */
orb_advert_t _sensor_pub; /**< combined sensor data topic */
orb_advert_t _manual_control_pub; /**< manual control signal topic */
orb_advert_t _actuator_group_3_pub; /**< manual control as actuator topic */
orb_advert_t _rc_pub; /**< raw r/c control topic */
orb_advert_t _battery_pub; /**< battery status */
orb_advert_t _airspeed_pub; /**< airspeed */
orb_advert_t _diff_pres_pub; /**< differential_pressure */
perf_counter_t _loop_perf; /**< loop performance counter */
struct rc_channels_s _rc; /**< r/c channel data */
struct battery_status_s _battery_status; /**< battery status */
struct baro_report _barometer; /**< barometer data */
struct differential_pressure_s _diff_pres;
struct airspeed_s _airspeed;
struct rc_parameter_map_s _rc_parameter_map;
math::Matrix<3, 3> _board_rotation; /**< rotation matrix for the orientation that the board is mounted */
math::Matrix<3, 3> _mag_rotation[3]; /**< rotation matrix for the orientation that the external mag0 is mounted */
uint64_t _battery_discharged; /**< battery discharged current in mA*ms */
hrt_abstime _battery_current_timestamp; /**< timestamp of last battery current reading */
struct {
float min[_rc_max_chan_count];
float trim[_rc_max_chan_count];
float max[_rc_max_chan_count];
float rev[_rc_max_chan_count];
float dz[_rc_max_chan_count];
float scaling_factor[_rc_max_chan_count];
float diff_pres_offset_pa;
float diff_pres_analog_scale;
int board_rotation;
int flow_rotation;
float board_offset[3];
int rc_map_roll;
int rc_map_pitch;
int rc_map_yaw;
int rc_map_throttle;
int rc_map_failsafe;
int rc_map_mode_sw;
int rc_map_return_sw;
int rc_map_posctl_sw;
int rc_map_loiter_sw;
int rc_map_acro_sw;
int rc_map_offboard_sw;
int rc_map_flaps;
int rc_map_aux1;
int rc_map_aux2;
int rc_map_aux3;
int rc_map_aux4;
int rc_map_aux5;
int rc_map_param[RC_PARAM_MAP_NCHAN];
int32_t rc_fails_thr;
float rc_assist_th;
float rc_auto_th;
float rc_posctl_th;
float rc_return_th;
float rc_loiter_th;
float rc_acro_th;
float rc_offboard_th;
bool rc_assist_inv;
bool rc_auto_inv;
bool rc_posctl_inv;
bool rc_return_inv;
bool rc_loiter_inv;
bool rc_acro_inv;
bool rc_offboard_inv;
float battery_voltage_scaling;
float battery_current_scaling;
float baro_qnh;
} _parameters; /**< local copies of interesting parameters */
struct {
param_t min[_rc_max_chan_count];
param_t trim[_rc_max_chan_count];
param_t max[_rc_max_chan_count];
param_t rev[_rc_max_chan_count];
param_t dz[_rc_max_chan_count];
param_t diff_pres_offset_pa;
param_t diff_pres_analog_scale;
param_t rc_map_roll;
param_t rc_map_pitch;
param_t rc_map_yaw;
param_t rc_map_throttle;
param_t rc_map_failsafe;
param_t rc_map_mode_sw;
param_t rc_map_return_sw;
param_t rc_map_posctl_sw;
param_t rc_map_loiter_sw;
param_t rc_map_acro_sw;
param_t rc_map_offboard_sw;
param_t rc_map_flaps;
param_t rc_map_aux1;
param_t rc_map_aux2;
param_t rc_map_aux3;
param_t rc_map_aux4;
param_t rc_map_aux5;
param_t rc_map_param[RC_PARAM_MAP_NCHAN];
param_t rc_param[RC_PARAM_MAP_NCHAN]; /**< param handles for the paramters which are bound
to a RC channel, equivalent float values in the
_parameters struct are not existing
because these parameters are never read. */
param_t rc_fails_thr;
param_t rc_assist_th;
param_t rc_auto_th;
param_t rc_posctl_th;
param_t rc_return_th;
param_t rc_loiter_th;
param_t rc_acro_th;
param_t rc_offboard_th;
param_t battery_voltage_scaling;
param_t battery_current_scaling;
param_t board_rotation;
param_t flow_rotation;
param_t board_offset[3];
param_t baro_qnh;
} _parameter_handles; /**< handles for interesting parameters */
/**
* Update our local parameter cache.
*/
int parameters_update();
/**
* Do accel-related initialisation.
*/
int accel_init();
/**
* Do gyro-related initialisation.
*/
int gyro_init();
/**
* Do mag-related initialisation.
*/
int mag_init();
/**
* Do baro-related initialisation.
*/
int baro_init();
/**
* Do adc-related initialisation.
*/
int adc_init();
/**
* Poll the accelerometer for updated data.
*
* @param raw Combined sensor data structure into which
* data should be returned.
*/
void accel_poll(struct sensor_combined_s &raw);
/**
* Poll the gyro for updated data.
*
* @param raw Combined sensor data structure into which
* data should be returned.
*/
void gyro_poll(struct sensor_combined_s &raw);
/**
* Poll the magnetometer for updated data.
*
* @param raw Combined sensor data structure into which
* data should be returned.
*/
void mag_poll(struct sensor_combined_s &raw);
/**
* Poll the barometer for updated data.
*
* @param raw Combined sensor data structure into which
* data should be returned.
*/
void baro_poll(struct sensor_combined_s &raw);
/**
* Poll the differential pressure sensor for updated data.
*
* @param raw Combined sensor data structure into which
* data should be returned.
*/
void diff_pres_poll(struct sensor_combined_s &raw);
/**
* Check for changes in vehicle control mode.
*/
void vehicle_control_mode_poll();
/**
* Check for changes in parameters.
*/
void parameter_update_poll(bool forced = false);
/**
* Check for changes in rc_parameter_map
*/
void rc_parameter_map_poll(bool forced = false);
/**
* Poll the ADC and update readings to suit.
*
* @param raw Combined sensor data structure into which
* data should be returned.
*/
void adc_poll(struct sensor_combined_s &raw);
/**
* Shim for calling task_main from task_create.
*/
static void task_main_trampoline(int argc, char *argv[]);
/**
* Main sensor collection task.
*/
void task_main();
};
namespace sensors
{
Sensors *g_sensors = nullptr;
}
Sensors::Sensors() :
_fd_adc(-1),
_last_adc(0),
_task_should_exit(true),
_sensors_task(-1),
_hil_enabled(false),
_publishing(true),
/* subscriptions */
_gyro_sub(-1),
_accel_sub(-1),
_mag_sub(-1),
_gyro1_sub(-1),
_accel1_sub(-1),
_mag1_sub(-1),
_gyro2_sub(-1),
_accel2_sub(-1),
_mag2_sub(-1),
_rc_sub(-1),
_baro_sub(-1),
_baro1_sub(-1),
_vcontrol_mode_sub(-1),
_params_sub(-1),
_rc_parameter_map_sub(-1),
_manual_control_sub(-1),
/* publications */
_sensor_pub(-1),
_manual_control_pub(-1),
_actuator_group_3_pub(-1),
_rc_pub(-1),
_battery_pub(-1),
_airspeed_pub(-1),
_diff_pres_pub(-1),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "sensor task update")),
_board_rotation{},
_mag_rotation{},
_battery_discharged(0),
_battery_current_timestamp(0)
{
memset(&_rc, 0, sizeof(_rc));
memset(&_diff_pres, 0, sizeof(_diff_pres));
memset(&_rc_parameter_map, 0, sizeof(_rc_parameter_map));
/* basic r/c parameters */
for (unsigned i = 0; i < _rc_max_chan_count; i++) {
char nbuf[16];
/* min values */
sprintf(nbuf, "RC%d_MIN", i + 1);
_parameter_handles.min[i] = param_find(nbuf);
/* trim values */
sprintf(nbuf, "RC%d_TRIM", i + 1);
_parameter_handles.trim[i] = param_find(nbuf);
/* max values */
sprintf(nbuf, "RC%d_MAX", i + 1);
_parameter_handles.max[i] = param_find(nbuf);
/* channel reverse */
sprintf(nbuf, "RC%d_REV", i + 1);
_parameter_handles.rev[i] = param_find(nbuf);
/* channel deadzone */
sprintf(nbuf, "RC%d_DZ", i + 1);
_parameter_handles.dz[i] = param_find(nbuf);
}
/* mandatory input switched, mapped to channels 1-4 per default */
_parameter_handles.rc_map_roll = param_find("RC_MAP_ROLL");
_parameter_handles.rc_map_pitch = param_find("RC_MAP_PITCH");
_parameter_handles.rc_map_yaw = param_find("RC_MAP_YAW");
_parameter_handles.rc_map_throttle = param_find("RC_MAP_THROTTLE");
_parameter_handles.rc_map_failsafe = param_find("RC_MAP_FAILSAFE");
/* mandatory mode switches, mapped to channel 5 and 6 per default */
_parameter_handles.rc_map_mode_sw = param_find("RC_MAP_MODE_SW");
_parameter_handles.rc_map_return_sw = param_find("RC_MAP_RETURN_SW");
_parameter_handles.rc_map_flaps = param_find("RC_MAP_FLAPS");
/* optional mode switches, not mapped per default */
_parameter_handles.rc_map_posctl_sw = param_find("RC_MAP_POSCTL_SW");
_parameter_handles.rc_map_loiter_sw = param_find("RC_MAP_LOITER_SW");
_parameter_handles.rc_map_acro_sw = param_find("RC_MAP_ACRO_SW");
_parameter_handles.rc_map_offboard_sw = param_find("RC_MAP_OFFB_SW");
_parameter_handles.rc_map_aux1 = param_find("RC_MAP_AUX1");
_parameter_handles.rc_map_aux2 = param_find("RC_MAP_AUX2");
_parameter_handles.rc_map_aux3 = param_find("RC_MAP_AUX3");
_parameter_handles.rc_map_aux4 = param_find("RC_MAP_AUX4");
_parameter_handles.rc_map_aux5 = param_find("RC_MAP_AUX5");
/* RC to parameter mapping for changing parameters with RC */
for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) {
char name[PARAM_ID_LEN];
snprintf(name, PARAM_ID_LEN, "RC_MAP_PARAM%d", i + 1); // shifted by 1 because param name starts at 1
_parameter_handles.rc_map_param[i] = param_find(name);
}
/* RC thresholds */
_parameter_handles.rc_fails_thr = param_find("RC_FAILS_THR");
_parameter_handles.rc_assist_th = param_find("RC_ASSIST_TH");
_parameter_handles.rc_auto_th = param_find("RC_AUTO_TH");
_parameter_handles.rc_posctl_th = param_find("RC_POSCTL_TH");
_parameter_handles.rc_return_th = param_find("RC_RETURN_TH");
_parameter_handles.rc_loiter_th = param_find("RC_LOITER_TH");
_parameter_handles.rc_acro_th = param_find("RC_ACRO_TH");
_parameter_handles.rc_offboard_th = param_find("RC_OFFB_TH");
/* Differential pressure offset */
_parameter_handles.diff_pres_offset_pa = param_find("SENS_DPRES_OFF");
_parameter_handles.diff_pres_analog_scale = param_find("SENS_DPRES_ANSC");
_parameter_handles.battery_voltage_scaling = param_find("BAT_V_SCALING");
_parameter_handles.battery_current_scaling = param_find("BAT_C_SCALING");
/* rotations */
_parameter_handles.board_rotation = param_find("SENS_BOARD_ROT");
_parameter_handles.flow_rotation = param_find("SENS_FLOW_ROT");
/* rotation offsets */
_parameter_handles.board_offset[0] = param_find("SENS_BOARD_X_OFF");
_parameter_handles.board_offset[1] = param_find("SENS_BOARD_Y_OFF");
_parameter_handles.board_offset[2] = param_find("SENS_BOARD_Z_OFF");
/* Barometer QNH */
_parameter_handles.baro_qnh = param_find("SENS_BARO_QNH");
/* fetch initial parameter values */
parameters_update();
}
Sensors::~Sensors()
{
if (_sensors_task != -1) {
/* task wakes up every 100ms or so at the longest */
_task_should_exit = true;
/* wait for a second for the task to quit at our request */
unsigned i = 0;
do {
/* wait 20ms */
usleep(20000);
/* if we have given up, kill it */
if (++i > 50) {
task_delete(_sensors_task);
break;
}
} while (_sensors_task != -1);
}
sensors::g_sensors = nullptr;
}
int
Sensors::parameters_update()
{
bool rc_valid = true;
float tmpScaleFactor = 0.0f;
float tmpRevFactor = 0.0f;
/* rc values */
for (unsigned int i = 0; i < _rc_max_chan_count; i++) {
param_get(_parameter_handles.min[i], &(_parameters.min[i]));
param_get(_parameter_handles.trim[i], &(_parameters.trim[i]));
param_get(_parameter_handles.max[i], &(_parameters.max[i]));
param_get(_parameter_handles.rev[i], &(_parameters.rev[i]));
param_get(_parameter_handles.dz[i], &(_parameters.dz[i]));
tmpScaleFactor = (1.0f / ((_parameters.max[i] - _parameters.min[i]) / 2.0f) * _parameters.rev[i]);
tmpRevFactor = tmpScaleFactor * _parameters.rev[i];
/* handle blowup in the scaling factor calculation */
if (!isfinite(tmpScaleFactor) ||
(tmpRevFactor < 0.000001f) ||
(tmpRevFactor > 0.2f)) {
warnx("RC chan %u not sane, scaling: %8.6f, rev: %d", i, (double)tmpScaleFactor, (int)(_parameters.rev[i]));
/* scaling factors do not make sense, lock them down */
_parameters.scaling_factor[i] = 0.0f;
rc_valid = false;
} else {
_parameters.scaling_factor[i] = tmpScaleFactor;
}
}
/* handle wrong values */
if (!rc_valid) {
warnx("WARNING WARNING WARNING\n\nRC CALIBRATION NOT SANE!\n\n");
}
const char *paramerr = "FAIL PARM LOAD";
/* channel mapping */
if (param_get(_parameter_handles.rc_map_roll, &(_parameters.rc_map_roll)) != OK) {
warnx("%s", paramerr);
}
if (param_get(_parameter_handles.rc_map_pitch, &(_parameters.rc_map_pitch)) != OK) {
warnx("%s", paramerr);
}
if (param_get(_parameter_handles.rc_map_yaw, &(_parameters.rc_map_yaw)) != OK) {
warnx("%s", paramerr);
}
if (param_get(_parameter_handles.rc_map_throttle, &(_parameters.rc_map_throttle)) != OK) {
warnx("%s", paramerr);
}
if (param_get(_parameter_handles.rc_map_failsafe, &(_parameters.rc_map_failsafe)) != OK) {
warnx("%s", paramerr);
}
if (param_get(_parameter_handles.rc_map_mode_sw, &(_parameters.rc_map_mode_sw)) != OK) {
warnx("%s", paramerr);
}
if (param_get(_parameter_handles.rc_map_return_sw, &(_parameters.rc_map_return_sw)) != OK) {
warnx("%s", paramerr);
}
if (param_get(_parameter_handles.rc_map_posctl_sw, &(_parameters.rc_map_posctl_sw)) != OK) {
warnx("%s", paramerr);
}
if (param_get(_parameter_handles.rc_map_loiter_sw, &(_parameters.rc_map_loiter_sw)) != OK) {
warnx("%s", paramerr);
}
if (param_get(_parameter_handles.rc_map_acro_sw, &(_parameters.rc_map_acro_sw)) != OK) {
warnx("%s", paramerr);
}
if (param_get(_parameter_handles.rc_map_offboard_sw, &(_parameters.rc_map_offboard_sw)) != OK) {
warnx("%s", paramerr);
}
if (param_get(_parameter_handles.rc_map_flaps, &(_parameters.rc_map_flaps)) != OK) {
warnx("%s", paramerr);
}
param_get(_parameter_handles.rc_map_aux1, &(_parameters.rc_map_aux1));
param_get(_parameter_handles.rc_map_aux2, &(_parameters.rc_map_aux2));
param_get(_parameter_handles.rc_map_aux3, &(_parameters.rc_map_aux3));
param_get(_parameter_handles.rc_map_aux4, &(_parameters.rc_map_aux4));
param_get(_parameter_handles.rc_map_aux5, &(_parameters.rc_map_aux5));
for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) {
param_get(_parameter_handles.rc_map_param[i], &(_parameters.rc_map_param[i]));
}
param_get(_parameter_handles.rc_fails_thr, &(_parameters.rc_fails_thr));
param_get(_parameter_handles.rc_assist_th, &(_parameters.rc_assist_th));
_parameters.rc_assist_inv = (_parameters.rc_assist_th < 0);
_parameters.rc_assist_th = fabs(_parameters.rc_assist_th);
param_get(_parameter_handles.rc_auto_th, &(_parameters.rc_auto_th));
_parameters.rc_auto_inv = (_parameters.rc_auto_th < 0);
_parameters.rc_auto_th = fabs(_parameters.rc_auto_th);
param_get(_parameter_handles.rc_posctl_th, &(_parameters.rc_posctl_th));
_parameters.rc_posctl_inv = (_parameters.rc_posctl_th < 0);
_parameters.rc_posctl_th = fabs(_parameters.rc_posctl_th);
param_get(_parameter_handles.rc_return_th, &(_parameters.rc_return_th));
_parameters.rc_return_inv = (_parameters.rc_return_th < 0);
_parameters.rc_return_th = fabs(_parameters.rc_return_th);
param_get(_parameter_handles.rc_loiter_th, &(_parameters.rc_loiter_th));
_parameters.rc_loiter_inv = (_parameters.rc_loiter_th < 0);
_parameters.rc_loiter_th = fabs(_parameters.rc_loiter_th);
param_get(_parameter_handles.rc_acro_th, &(_parameters.rc_acro_th));
_parameters.rc_acro_inv = (_parameters.rc_acro_th < 0);
_parameters.rc_acro_th = fabs(_parameters.rc_acro_th);
param_get(_parameter_handles.rc_offboard_th, &(_parameters.rc_offboard_th));
_parameters.rc_offboard_inv = (_parameters.rc_offboard_th < 0);
_parameters.rc_offboard_th = fabs(_parameters.rc_offboard_th);
/* update RC function mappings */
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_THROTTLE] = _parameters.rc_map_throttle - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_ROLL] = _parameters.rc_map_roll - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PITCH] = _parameters.rc_map_pitch - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_YAW] = _parameters.rc_map_yaw - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_MODE] = _parameters.rc_map_mode_sw - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_RETURN] = _parameters.rc_map_return_sw - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_POSCTL] = _parameters.rc_map_posctl_sw - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_LOITER] = _parameters.rc_map_loiter_sw - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_ACRO] = _parameters.rc_map_acro_sw - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_OFFBOARD] = _parameters.rc_map_offboard_sw - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_FLAPS] = _parameters.rc_map_flaps - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_1] = _parameters.rc_map_aux1 - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_2] = _parameters.rc_map_aux2 - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_3] = _parameters.rc_map_aux3 - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_4] = _parameters.rc_map_aux4 - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_5] = _parameters.rc_map_aux5 - 1;
for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) {
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i] = _parameters.rc_map_param[i] - 1;
}
/* Airspeed offset */
param_get(_parameter_handles.diff_pres_offset_pa, &(_parameters.diff_pres_offset_pa));
param_get(_parameter_handles.diff_pres_analog_scale, &(_parameters.diff_pres_analog_scale));
/* scaling of ADC ticks to battery voltage */
if (param_get(_parameter_handles.battery_voltage_scaling, &(_parameters.battery_voltage_scaling)) != OK) {
warnx("%s", paramerr);
}
/* scaling of ADC ticks to battery current */
if (param_get(_parameter_handles.battery_current_scaling, &(_parameters.battery_current_scaling)) != OK) {
warnx("%s", paramerr);
}
param_get(_parameter_handles.board_rotation, &(_parameters.board_rotation));
param_get(_parameter_handles.flow_rotation, &(_parameters.flow_rotation));
/* set px4flow rotation */
int flowfd;
flowfd = open(PX4FLOW0_DEVICE_PATH, 0);
if (flowfd >= 0) {
int flowret = ioctl(flowfd, SENSORIOCSROTATION, _parameters.flow_rotation);
if (flowret) {
warnx("flow rotation could not be set");
close(flowfd);
return ERROR;
}
close(flowfd);
}
get_rot_matrix((enum Rotation)_parameters.board_rotation, &_board_rotation);
param_get(_parameter_handles.board_offset[0], &(_parameters.board_offset[0]));
param_get(_parameter_handles.board_offset[1], &(_parameters.board_offset[1]));
param_get(_parameter_handles.board_offset[2], &(_parameters.board_offset[2]));
/** fine tune board offset on parameter update **/
math::Matrix<3, 3> board_rotation_offset;
board_rotation_offset.from_euler(M_DEG_TO_RAD_F * _parameters.board_offset[0],
M_DEG_TO_RAD_F * _parameters.board_offset[1],
M_DEG_TO_RAD_F * _parameters.board_offset[2]);
_board_rotation = _board_rotation * board_rotation_offset;
/* update barometer qnh setting */
param_get(_parameter_handles.baro_qnh, &(_parameters.baro_qnh));
int barofd;
barofd = open(BARO0_DEVICE_PATH, 0);
if (barofd < 0) {
warnx("ERROR: no barometer foundon %s", BARO0_DEVICE_PATH);
return ERROR;
} else {
int baroret = ioctl(barofd, BAROIOCSMSLPRESSURE, (unsigned long)(_parameters.baro_qnh * 100));
if (baroret) {
warnx("qnh could not be set");
close(barofd);
return ERROR;
}
close(barofd);
}
return OK;
}
int
Sensors::accel_init()
{
int fd;
fd = open(ACCEL0_DEVICE_PATH, 0);
if (fd < 0) {
warnx("FATAL: no accelerometer found: %s", ACCEL0_DEVICE_PATH);
return ERROR;
} else {
/* set the accel internal sampling rate to default rate */
ioctl(fd, ACCELIOCSSAMPLERATE, ACCEL_SAMPLERATE_DEFAULT);
/* set the driver to poll at default rate */
ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT);
close(fd);
}
return OK;
}
int
Sensors::gyro_init()
{
int fd;
fd = open(GYRO0_DEVICE_PATH, 0);
if (fd < 0) {
warnx("FATAL: no gyro found: %s", GYRO0_DEVICE_PATH);
return ERROR;
} else {
/* set the gyro internal sampling rate to default rate */
ioctl(fd, GYROIOCSSAMPLERATE, GYRO_SAMPLERATE_DEFAULT);
/* set the driver to poll at default rate */
ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT);
}
return OK;
}
int
Sensors::mag_init()
{
int fd;
int ret;
fd = open(MAG0_DEVICE_PATH, 0);
if (fd < 0) {
warnx("FATAL: no magnetometer found: %s", MAG0_DEVICE_PATH);
return ERROR;
}
/* try different mag sampling rates */
ret = ioctl(fd, MAGIOCSSAMPLERATE, 150);
if (ret == OK) {
/* set the pollrate accordingly */
ioctl(fd, SENSORIOCSPOLLRATE, 150);
} else {
ret = ioctl(fd, MAGIOCSSAMPLERATE, 100);
/* if the slower sampling rate still fails, something is wrong */
if (ret == OK) {
/* set the driver to poll also at the slower rate */
ioctl(fd, SENSORIOCSPOLLRATE, 100);
} else {
warnx("FATAL: mag sampling rate could not be set");
return ERROR;
}
}
close(fd);
return OK;
}
int
Sensors::baro_init()
{
int fd;
fd = open(BARO0_DEVICE_PATH, 0);
if (fd < 0) {
warnx("FATAL: No barometer found: %s", BARO0_DEVICE_PATH);
return ERROR;
}
/* set the driver to poll at 150Hz */
ioctl(fd, SENSORIOCSPOLLRATE, 150);
close(fd);
return OK;
}
int
Sensors::adc_init()
{
_fd_adc = open(ADC0_DEVICE_PATH, O_RDONLY | O_NONBLOCK);
if (_fd_adc < 0) {
warnx("FATAL: no ADC found: %s", ADC0_DEVICE_PATH);
return ERROR;
}
return OK;
}
void
Sensors::accel_poll(struct sensor_combined_s &raw)
{
bool accel_updated;
orb_check(_accel_sub, &accel_updated);
if (accel_updated) {
struct accel_report accel_report;
orb_copy(ORB_ID(sensor_accel), _accel_sub, &accel_report);
math::Vector<3> vect(accel_report.x, accel_report.y, accel_report.z);
vect = _board_rotation * vect;
raw.accelerometer_m_s2[0] = vect(0);
raw.accelerometer_m_s2[1] = vect(1);
raw.accelerometer_m_s2[2] = vect(2);
raw.accelerometer_raw[0] = accel_report.x_raw;
raw.accelerometer_raw[1] = accel_report.y_raw;
raw.accelerometer_raw[2] = accel_report.z_raw;
raw.accelerometer_timestamp = accel_report.timestamp;
raw.accelerometer_errcount = accel_report.error_count;
}
orb_check(_accel1_sub, &accel_updated);
if (accel_updated) {
struct accel_report accel_report;
orb_copy(ORB_ID(sensor_accel), _accel1_sub, &accel_report);
math::Vector<3> vect(accel_report.x, accel_report.y, accel_report.z);
vect = _board_rotation * vect;
raw.accelerometer1_m_s2[0] = vect(0);
raw.accelerometer1_m_s2[1] = vect(1);
raw.accelerometer1_m_s2[2] = vect(2);
raw.accelerometer1_raw[0] = accel_report.x_raw;
raw.accelerometer1_raw[1] = accel_report.y_raw;
raw.accelerometer1_raw[2] = accel_report.z_raw;
raw.accelerometer1_timestamp = accel_report.timestamp;
raw.accelerometer1_errcount = accel_report.error_count;
}
orb_check(_accel2_sub, &accel_updated);
if (accel_updated) {
struct accel_report accel_report;
orb_copy(ORB_ID(sensor_accel), _accel2_sub, &accel_report);
math::Vector<3> vect(accel_report.x, accel_report.y, accel_report.z);
vect = _board_rotation * vect;
raw.accelerometer2_m_s2[0] = vect(0);
raw.accelerometer2_m_s2[1] = vect(1);
raw.accelerometer2_m_s2[2] = vect(2);
raw.accelerometer2_raw[0] = accel_report.x_raw;
raw.accelerometer2_raw[1] = accel_report.y_raw;
raw.accelerometer2_raw[2] = accel_report.z_raw;
raw.accelerometer2_timestamp = accel_report.timestamp;
raw.accelerometer2_errcount = accel_report.error_count;
}
}
void
Sensors::gyro_poll(struct sensor_combined_s &raw)
{
bool gyro_updated;
orb_check(_gyro_sub, &gyro_updated);
if (gyro_updated) {
struct gyro_report gyro_report;
orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &gyro_report);
math::Vector<3> vect(gyro_report.x, gyro_report.y, gyro_report.z);
vect = _board_rotation * vect;
raw.gyro_rad_s[0] = vect(0);
raw.gyro_rad_s[1] = vect(1);
raw.gyro_rad_s[2] = vect(2);
raw.gyro_raw[0] = gyro_report.x_raw;
raw.gyro_raw[1] = gyro_report.y_raw;
raw.gyro_raw[2] = gyro_report.z_raw;
raw.timestamp = gyro_report.timestamp;
raw.gyro_errcount = gyro_report.error_count;
}
orb_check(_gyro1_sub, &gyro_updated);
if (gyro_updated) {
struct gyro_report gyro_report;
orb_copy(ORB_ID(sensor_gyro), _gyro1_sub, &gyro_report);
math::Vector<3> vect(gyro_report.x, gyro_report.y, gyro_report.z);
vect = _board_rotation * vect;
raw.gyro1_rad_s[0] = vect(0);
raw.gyro1_rad_s[1] = vect(1);
raw.gyro1_rad_s[2] = vect(2);
raw.gyro1_raw[0] = gyro_report.x_raw;
raw.gyro1_raw[1] = gyro_report.y_raw;
raw.gyro1_raw[2] = gyro_report.z_raw;
raw.gyro1_timestamp = gyro_report.timestamp;
raw.gyro1_errcount = gyro_report.error_count;
}
orb_check(_gyro2_sub, &gyro_updated);
if (gyro_updated) {
struct gyro_report gyro_report;
orb_copy(ORB_ID(sensor_gyro), _gyro2_sub, &gyro_report);
math::Vector<3> vect(gyro_report.x, gyro_report.y, gyro_report.z);
vect = _board_rotation * vect;
raw.gyro2_rad_s[0] = vect(0);
raw.gyro2_rad_s[1] = vect(1);
raw.gyro2_rad_s[2] = vect(2);
raw.gyro2_raw[0] = gyro_report.x_raw;
raw.gyro2_raw[1] = gyro_report.y_raw;
raw.gyro2_raw[2] = gyro_report.z_raw;
raw.gyro2_timestamp = gyro_report.timestamp;
raw.gyro2_errcount = gyro_report.error_count;
}
}
void
Sensors::mag_poll(struct sensor_combined_s &raw)
{
bool mag_updated;
orb_check(_mag_sub, &mag_updated);
if (mag_updated) {
struct mag_report mag_report;
orb_copy(ORB_ID(sensor_mag), _mag_sub, &mag_report);
math::Vector<3> vect(mag_report.x, mag_report.y, mag_report.z);
vect = _mag_rotation[0] * vect;
raw.magnetometer_ga[0] = vect(0);
raw.magnetometer_ga[1] = vect(1);
raw.magnetometer_ga[2] = vect(2);
raw.magnetometer_raw[0] = mag_report.x_raw;
raw.magnetometer_raw[1] = mag_report.y_raw;
raw.magnetometer_raw[2] = mag_report.z_raw;
raw.magnetometer_timestamp = mag_report.timestamp;
raw.magnetometer_errcount = mag_report.error_count;
}
orb_check(_mag1_sub, &mag_updated);
if (mag_updated) {
struct mag_report mag_report;
orb_copy(ORB_ID(sensor_mag), _mag1_sub, &mag_report);
math::Vector<3> vect(mag_report.x, mag_report.y, mag_report.z);
vect = _mag_rotation[1] * vect;
raw.magnetometer1_ga[0] = vect(0);
raw.magnetometer1_ga[1] = vect(1);
raw.magnetometer1_ga[2] = vect(2);
raw.magnetometer1_raw[0] = mag_report.x_raw;
raw.magnetometer1_raw[1] = mag_report.y_raw;
raw.magnetometer1_raw[2] = mag_report.z_raw;
raw.magnetometer1_timestamp = mag_report.timestamp;
raw.magnetometer1_errcount = mag_report.error_count;
}
orb_check(_mag2_sub, &mag_updated);
if (mag_updated) {
struct mag_report mag_report;
orb_copy(ORB_ID(sensor_mag), _mag2_sub, &mag_report);
math::Vector<3> vect(mag_report.x, mag_report.y, mag_report.z);
vect = _mag_rotation[2] * vect;
raw.magnetometer2_ga[0] = vect(0);
raw.magnetometer2_ga[1] = vect(1);
raw.magnetometer2_ga[2] = vect(2);
raw.magnetometer2_raw[0] = mag_report.x_raw;
raw.magnetometer2_raw[1] = mag_report.y_raw;
raw.magnetometer2_raw[2] = mag_report.z_raw;
raw.magnetometer2_timestamp = mag_report.timestamp;
raw.magnetometer2_errcount = mag_report.error_count;
}
}
void
Sensors::baro_poll(struct sensor_combined_s &raw)
{
bool baro_updated;
orb_check(_baro_sub, &baro_updated);
if (baro_updated) {
orb_copy(ORB_ID(sensor_baro), _baro_sub, &_barometer);
raw.baro_pres_mbar = _barometer.pressure; // Pressure in mbar
raw.baro_alt_meter = _barometer.altitude; // Altitude in meters
raw.baro_temp_celcius = _barometer.temperature; // Temperature in degrees celcius
raw.baro_timestamp = _barometer.timestamp;
}
orb_check(_baro1_sub, &baro_updated);
if (baro_updated) {
struct baro_report baro_report;
orb_copy(ORB_ID(sensor_baro), _baro1_sub, &baro_report);
raw.baro1_pres_mbar = baro_report.pressure; // Pressure in mbar
raw.baro1_alt_meter = baro_report.altitude; // Altitude in meters
raw.baro1_temp_celcius = baro_report.temperature; // Temperature in degrees celcius
raw.baro1_timestamp = baro_report.timestamp;
}
}
void
Sensors::diff_pres_poll(struct sensor_combined_s &raw)
{
bool updated;
orb_check(_diff_pres_sub, &updated);
if (updated) {
orb_copy(ORB_ID(differential_pressure), _diff_pres_sub, &_diff_pres);
raw.differential_pressure_pa = _diff_pres.differential_pressure_raw_pa;
raw.differential_pressure_timestamp = _diff_pres.timestamp;
raw.differential_pressure_filtered_pa = _diff_pres.differential_pressure_filtered_pa;
float air_temperature_celsius = (_diff_pres.temperature > -300.0f) ? _diff_pres.temperature :
(raw.baro_temp_celcius - PCB_TEMP_ESTIMATE_DEG);
_airspeed.timestamp = _diff_pres.timestamp;
/* don't risk to feed negative airspeed into the system */
_airspeed.indicated_airspeed_m_s = math::max(0.0f,
calc_indicated_airspeed(_diff_pres.differential_pressure_filtered_pa));
_airspeed.true_airspeed_m_s = math::max(0.0f,
calc_true_airspeed(_diff_pres.differential_pressure_filtered_pa + raw.baro_pres_mbar * 1e2f,
raw.baro_pres_mbar * 1e2f, air_temperature_celsius));
_airspeed.air_temperature_celsius = air_temperature_celsius;
/* announce the airspeed if needed, just publish else */
if (_airspeed_pub > 0) {
orb_publish(ORB_ID(airspeed), _airspeed_pub, &_airspeed);
} else {
_airspeed_pub = orb_advertise(ORB_ID(airspeed), &_airspeed);
}
}
}
void
Sensors::vehicle_control_mode_poll()
{
struct vehicle_control_mode_s vcontrol_mode;
bool vcontrol_mode_updated;
/* Check HIL state if vehicle control mode has changed */
orb_check(_vcontrol_mode_sub, &vcontrol_mode_updated);
if (vcontrol_mode_updated) {
orb_copy(ORB_ID(vehicle_control_mode), _vcontrol_mode_sub, &vcontrol_mode);
/* switching from non-HIL to HIL mode */
//printf("[sensors] Vehicle mode: %i \t AND: %i, HIL: %i\n", vstatus.mode, vstatus.mode & VEHICLE_MODE_FLAG_HIL_ENABLED, hil_enabled);
if (vcontrol_mode.flag_system_hil_enabled && !_hil_enabled) {
_hil_enabled = true;
_publishing = false;
/* switching from HIL to non-HIL mode */
} else if (!_publishing && !_hil_enabled) {
_hil_enabled = false;
_publishing = true;
}
}
}
void
Sensors::parameter_update_poll(bool forced)
{
bool param_updated;
/* Check if any parameter has changed */
orb_check(_params_sub, ¶m_updated);
if (param_updated || forced) {
/* read from param to clear updated flag */
struct parameter_update_s update;
orb_copy(ORB_ID(parameter_update), _params_sub, &update);
/* update parameters */
parameters_update();
/* set offset parameters to new values */
bool failed;
int res;
char str[30];
unsigned mag_count = 0;
unsigned gyro_count = 0;
unsigned accel_count = 0;
/* run through all gyro sensors */
for (unsigned s = 0; s < 3; s++) {
res = ERROR;
(void)sprintf(str, "%s%u", GYRO_BASE_DEVICE_PATH, s);
int fd = open(str, 0);
if (fd < 0) {
continue;
}
bool config_ok = false;
/* run through all stored calibrations */
for (unsigned i = 0; i < 3; i++) {
/* initially status is ok per config */
failed = false;
(void)sprintf(str, "CAL_GYRO%u_ID", i);
int device_id;
failed |= (OK != param_get(param_find(str), &device_id));
if (failed) {
close(fd);
continue;
}
/* if the calibration is for this device, apply it */
if (device_id == ioctl(fd, DEVIOCGDEVICEID, 0)) {
struct gyro_scale gscale = {};
(void)sprintf(str, "CAL_GYRO%u_XOFF", i);
failed |= (OK != param_get(param_find(str), &gscale.x_offset));
(void)sprintf(str, "CAL_GYRO%u_YOFF", i);
failed |= (OK != param_get(param_find(str), &gscale.y_offset));
(void)sprintf(str, "CAL_GYRO%u_ZOFF", i);
failed |= (OK != param_get(param_find(str), &gscale.z_offset));
(void)sprintf(str, "CAL_GYRO%u_XSCALE", i);
failed |= (OK != param_get(param_find(str), &gscale.x_scale));
(void)sprintf(str, "CAL_GYRO%u_YSCALE", i);
failed |= (OK != param_get(param_find(str), &gscale.y_scale));
(void)sprintf(str, "CAL_GYRO%u_ZSCALE", i);
failed |= (OK != param_get(param_find(str), &gscale.z_scale));
if (failed) {
warnx("%s: gyro #%u", CAL_FAILED_APPLY_CAL_MSG, gyro_count);
} else {
/* apply new scaling and offsets */
res = ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale);
if (res) {
warnx(CAL_FAILED_APPLY_CAL_MSG);
} else {
gyro_count++;
config_ok = true;
}
}
break;
}
}
close(fd);
if (!config_ok) {
warnx("NO CONFIG FOR GYRO #%u", s);
}
}
/* run through all accel sensors */
for (unsigned s = 0; s < 3; s++) {
res = ERROR;
(void)sprintf(str, "%s%u", ACCEL_BASE_DEVICE_PATH, s);
int fd = open(str, 0);
if (fd < 0) {
continue;
}
bool config_ok = false;
/* run through all stored calibrations */
for (unsigned i = 0; i < 3; i++) {
/* initially status is ok per config */
failed = false;
(void)sprintf(str, "CAL_ACC%u_ID", i);
int device_id;
failed |= (OK != param_get(param_find(str), &device_id));
if (failed) {
close(fd);
continue;
}
/* if the calibration is for this device, apply it */
if (device_id == ioctl(fd, DEVIOCGDEVICEID, 0)) {
struct accel_scale gscale = {};
(void)sprintf(str, "CAL_ACC%u_XOFF", i);
failed |= (OK != param_get(param_find(str), &gscale.x_offset));
(void)sprintf(str, "CAL_ACC%u_YOFF", i);
failed |= (OK != param_get(param_find(str), &gscale.y_offset));
(void)sprintf(str, "CAL_ACC%u_ZOFF", i);
failed |= (OK != param_get(param_find(str), &gscale.z_offset));
(void)sprintf(str, "CAL_ACC%u_XSCALE", i);
failed |= (OK != param_get(param_find(str), &gscale.x_scale));
(void)sprintf(str, "CAL_ACC%u_YSCALE", i);
failed |= (OK != param_get(param_find(str), &gscale.y_scale));
(void)sprintf(str, "CAL_ACC%u_ZSCALE", i);
failed |= (OK != param_get(param_find(str), &gscale.z_scale));
if (failed) {
warnx("%s: acc #%u", CAL_FAILED_APPLY_CAL_MSG, accel_count);
} else {
/* apply new scaling and offsets */
res = ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&gscale);
if (res) {
warnx(CAL_FAILED_APPLY_CAL_MSG);
} else {
accel_count++;
config_ok = true;
}
}
break;
}
}
close(fd);
if (!config_ok) {
warnx("NO CONFIG FOR ACCEL #%u", s);
}
}
/* run through all mag sensors */
for (unsigned s = 0; s < 3; s++) {
res = ERROR;
(void)sprintf(str, "%s%u", MAG_BASE_DEVICE_PATH, s);
int fd = open(str, 0);
if (fd < 0) {
continue;
}
bool config_ok = false;
/* run through all stored calibrations */
for (unsigned i = 0; i < 3; i++) {
/* initially status is ok per config */
failed = false;
(void)sprintf(str, "CAL_MAG%u_ID", i);
int device_id;
failed |= (OK != param_get(param_find(str), &device_id));
if (failed) {
close(fd);
continue;
}
/* if the calibration is for this device, apply it */
if (device_id == ioctl(fd, DEVIOCGDEVICEID, 0)) {
struct mag_scale gscale = {};
(void)sprintf(str, "CAL_MAG%u_XOFF", i);
failed |= (OK != param_get(param_find(str), &gscale.x_offset));
(void)sprintf(str, "CAL_MAG%u_YOFF", i);
failed |= (OK != param_get(param_find(str), &gscale.y_offset));
(void)sprintf(str, "CAL_MAG%u_ZOFF", i);
failed |= (OK != param_get(param_find(str), &gscale.z_offset));
(void)sprintf(str, "CAL_MAG%u_XSCALE", i);
failed |= (OK != param_get(param_find(str), &gscale.x_scale));
(void)sprintf(str, "CAL_MAG%u_YSCALE", i);
failed |= (OK != param_get(param_find(str), &gscale.y_scale));
(void)sprintf(str, "CAL_MAG%u_ZSCALE", i);
failed |= (OK != param_get(param_find(str), &gscale.z_scale));
if (ioctl(fd, MAGIOCGEXTERNAL, 0) <= 0) {
/* mag is internal */
_mag_rotation[s] = _board_rotation;
/* reset param to -1 to indicate external mag */
int32_t minus_one = MAG_ROT_VAL_INTERNAL;
param_set(param_find("CAL_MAG0_ROT"), &minus_one);
} else {
int32_t mag_rot = 0;
(void)sprintf(str, "CAL_MAG%u_ROT", i);
param_get(param_find(str), &mag_rot);
/* handling of old setups, will be removed */
if (s == 0) {
int32_t deprecated_mag_rot = 0;
param_get(param_find("SENS_EXT_MAG_ROT"), &deprecated_mag_rot);
/* if the old param is non-zero, set the new one to the same value */
if ((deprecated_mag_rot != 0) && (mag_rot <= 0)) {
mag_rot = deprecated_mag_rot;
param_set(param_find("CAL_MAG0_ROT"), &mag_rot);
}
}
/* handling of transition from internal to external */
if (mag_rot < 0) {
mag_rot = 0;
}
get_rot_matrix((enum Rotation)mag_rot, &_mag_rotation[s]);
}
if (failed) {
warnx("%s: mag #%u", CAL_FAILED_APPLY_CAL_MSG, mag_count);
} else {
/* apply new scaling and offsets */
res = ioctl(fd, MAGIOCSSCALE, (long unsigned int)&gscale);
if (res) {
warnx(CAL_FAILED_APPLY_CAL_MSG);
} else {
mag_count++;
config_ok = true;
}
}
break;
}
}
close(fd);
if (!config_ok) {
warnx("NO CONFIG FOR MAG #%u", s);
}
}
int fd = open(AIRSPEED0_DEVICE_PATH, 0);
/* this sensor is optional, abort without error */
if (fd >= 0) {
struct airspeed_scale airscale = {
_parameters.diff_pres_offset_pa,
1.0f,
};
if (OK != ioctl(fd, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) {
warn("WARNING: failed to set scale / offsets for airspeed sensor");
}
close(fd);
}
warnx("config: %u gyros, %u mags, %u accels", gyro_count, mag_count, accel_count);
}
}
void
Sensors::rc_parameter_map_poll(bool forced)
{
bool map_updated;
orb_check(_rc_parameter_map_sub, &map_updated);
if (map_updated) {
orb_copy(ORB_ID(rc_parameter_map), _rc_parameter_map_sub, &_rc_parameter_map);
/* update paramter handles to which the RC channels are mapped */
for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) {
if (_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i] < 0 || !_rc_parameter_map.valid[i]) {
/* This RC channel is not mapped to a RC-Parameter Channel (e.g. RC_MAP_PARAM1 == 0)
* or no request to map this channel to a param has been sent via mavlink
*/
continue;
}
/* Set the handle by index if the index is set, otherwise use the id */
if (_rc_parameter_map.param_index[i] >= 0) {
_parameter_handles.rc_param[i] = param_for_index((unsigned)_rc_parameter_map.param_index[i]);
} else {
_parameter_handles.rc_param[i] = param_find(_rc_parameter_map.param_id[i]);
}
}
warnx("rc to parameter map updated");
for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) {
warnx("\ti %d param_id %s scale %.3f value0 %.3f, min %.3f, max %.3f",
i,
_rc_parameter_map.param_id[i],
(double)_rc_parameter_map.scale[i],
(double)_rc_parameter_map.value0[i],
(double)_rc_parameter_map.value_min[i],
(double)_rc_parameter_map.value_max[i]
);
}
}
}
void
Sensors::adc_poll(struct sensor_combined_s &raw)
{
/* only read if publishing */
if (!_publishing) {
return;
}
hrt_abstime t = hrt_absolute_time();
/* rate limit to 100 Hz */
if (t - _last_adc >= 10000) {
/* make space for a maximum of twelve channels (to ensure reading all channels at once) */
struct adc_msg_s buf_adc[12];
/* read all channels available */
int ret = read(_fd_adc, &buf_adc, sizeof(buf_adc));
if (ret >= (int)sizeof(buf_adc[0])) {
/* Read add channels we got */
for (unsigned i = 0; i < ret / sizeof(buf_adc[0]); i++) {
/* Save raw voltage values */
if (i < (sizeof(raw.adc_voltage_v) / sizeof(raw.adc_voltage_v[0]))) {
raw.adc_voltage_v[i] = buf_adc[i].am_data / (4096.0f / 3.3f);
raw.adc_mapping[i] = buf_adc[i].am_channel;
}
/* look for specific channels and process the raw voltage to measurement data */
if (ADC_BATTERY_VOLTAGE_CHANNEL == buf_adc[i].am_channel) {
/* Voltage in volts */
float voltage = (buf_adc[i].am_data * _parameters.battery_voltage_scaling);
if (voltage > BATT_V_IGNORE_THRESHOLD) {
_battery_status.voltage_v = voltage;
/* one-time initialization of low-pass value to avoid long init delays */
if (_battery_status.voltage_filtered_v < BATT_V_IGNORE_THRESHOLD) {
_battery_status.voltage_filtered_v = voltage;
}
_battery_status.timestamp = t;
_battery_status.voltage_filtered_v += (voltage - _battery_status.voltage_filtered_v) * BATT_V_LOWPASS;
} else {
/* mark status as invalid */
_battery_status.voltage_v = -1.0f;
_battery_status.voltage_filtered_v = -1.0f;
}
} else if (ADC_BATTERY_CURRENT_CHANNEL == buf_adc[i].am_channel) {
/* handle current only if voltage is valid */
if (_battery_status.voltage_v > 0.0f) {
float current = (buf_adc[i].am_data * _parameters.battery_current_scaling);
/* check measured current value */
if (current >= 0.0f) {
_battery_status.timestamp = t;
_battery_status.current_a = current;
if (_battery_current_timestamp != 0) {
/* initialize discharged value */
if (_battery_status.discharged_mah < 0.0f) {
_battery_status.discharged_mah = 0.0f;
}
_battery_discharged += current * (t - _battery_current_timestamp);
_battery_status.discharged_mah = ((float) _battery_discharged) / 3600000.0f;
}
}
}
_battery_current_timestamp = t;
} else if (ADC_AIRSPEED_VOLTAGE_CHANNEL == buf_adc[i].am_channel) {
/* calculate airspeed, raw is the difference from */
float voltage = (float)(buf_adc[i].am_data) * 3.3f / 4096.0f * 2.0f; // V_ref/4096 * (voltage divider factor)
/**
* The voltage divider pulls the signal down, only act on
* a valid voltage from a connected sensor. Also assume a non-
* zero offset from the sensor if its connected.
*/
if (voltage > 0.4f && (_parameters.diff_pres_analog_scale > 0.0f)) {
float diff_pres_pa_raw = voltage * _parameters.diff_pres_analog_scale - _parameters.diff_pres_offset_pa;
_diff_pres.timestamp = t;
_diff_pres.differential_pressure_raw_pa = diff_pres_pa_raw;
_diff_pres.differential_pressure_filtered_pa = (_diff_pres.differential_pressure_filtered_pa * 0.9f) +
(diff_pres_pa_raw * 0.1f);
_diff_pres.temperature = -1000.0f;
/* announce the airspeed if needed, just publish else */
if (_diff_pres_pub > 0) {
orb_publish(ORB_ID(differential_pressure), _diff_pres_pub, &_diff_pres);
} else {
_diff_pres_pub = orb_advertise(ORB_ID(differential_pressure), &_diff_pres);
}
}
}
}
_last_adc = t;
if (_battery_status.voltage_filtered_v > BATT_V_IGNORE_THRESHOLD) {
/* announce the battery status if needed, just publish else */
if (_battery_pub > 0) {
orb_publish(ORB_ID(battery_status), _battery_pub, &_battery_status);
} else {
_battery_pub = orb_advertise(ORB_ID(battery_status), &_battery_status);
}
}
}
}
}
float
Sensors::get_rc_value(uint8_t func, float min_value, float max_value)
{
if (_rc.function[func] >= 0) {
float value = _rc.channels[_rc.function[func]];
if (value < min_value) {
return min_value;
} else if (value > max_value) {
return max_value;
} else {
return value;
}
} else {
return 0.0f;
}
}
switch_pos_t
Sensors::get_rc_sw3pos_position(uint8_t func, float on_th, bool on_inv, float mid_th, bool mid_inv)
{
if (_rc.function[func] >= 0) {
float value = 0.5f * _rc.channels[_rc.function[func]] + 0.5f;
if (on_inv ? value < on_th : value > on_th) {
return manual_control_setpoint_s::SWITCH_POS_ON;
} else if (mid_inv ? value < mid_th : value > mid_th) {
return manual_control_setpoint_s::SWITCH_POS_MIDDLE;
} else {
return manual_control_setpoint_s::SWITCH_POS_OFF;
}
} else {
return manual_control_setpoint_s::SWITCH_POS_NONE;
}
}
switch_pos_t
Sensors::get_rc_sw2pos_position(uint8_t func, float on_th, bool on_inv)
{
if (_rc.function[func] >= 0) {
float value = 0.5f * _rc.channels[_rc.function[func]] + 0.5f;
if (on_inv ? value < on_th : value > on_th) {
return manual_control_setpoint_s::SWITCH_POS_ON;
} else {
return manual_control_setpoint_s::SWITCH_POS_OFF;
}
} else {
return manual_control_setpoint_s::SWITCH_POS_NONE;
}
}
void
Sensors::set_params_from_rc()
{
static float param_rc_values[RC_PARAM_MAP_NCHAN] = {};
for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) {
if (_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i] < 0 || !_rc_parameter_map.valid[i]) {
/* This RC channel is not mapped to a RC-Parameter Channel (e.g. RC_MAP_PARAM1 == 0)
* or no request to map this channel to a param has been sent via mavlink
*/
continue;
}
float rc_val = get_rc_value((rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i), -1.0, 1.0);
/* Check if the value has changed,
* maybe we need to introduce a more aggressive limit here */
if (rc_val > param_rc_values[i] + FLT_EPSILON || rc_val < param_rc_values[i] - FLT_EPSILON) {
param_rc_values[i] = rc_val;
float param_val = math::constrain(
_rc_parameter_map.value0[i] + _rc_parameter_map.scale[i] * rc_val,
_rc_parameter_map.value_min[i], _rc_parameter_map.value_max[i]);
param_set(_parameter_handles.rc_param[i], ¶m_val);
}
}
}
void
Sensors::rc_poll()
{
bool rc_updated;
orb_check(_rc_sub, &rc_updated);
if (rc_updated) {
/* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */
struct rc_input_values rc_input;
orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
/* detect RC signal loss */
bool signal_lost;
/* check flags and require at least four channels to consider the signal valid */
if (rc_input.rc_lost || rc_input.rc_failsafe || rc_input.channel_count < 4) {
/* signal is lost or no enough channels */
signal_lost = true;
} else {
/* signal looks good */
signal_lost = false;
/* check failsafe */
int8_t fs_ch = _rc.function[_parameters.rc_map_failsafe]; // get channel mapped to throttle
if (_parameters.rc_map_failsafe > 0) { // if not 0, use channel number instead of rc.function mapping
fs_ch = _parameters.rc_map_failsafe - 1;
}
if (_parameters.rc_fails_thr > 0 && fs_ch >= 0) {
/* failsafe configured */
if ((_parameters.rc_fails_thr < _parameters.min[fs_ch] && rc_input.values[fs_ch] < _parameters.rc_fails_thr) ||
(_parameters.rc_fails_thr > _parameters.max[fs_ch] && rc_input.values[fs_ch] > _parameters.rc_fails_thr)) {
/* failsafe triggered, signal is lost by receiver */
signal_lost = true;
}
}
}
unsigned channel_limit = rc_input.channel_count;
if (channel_limit > _rc_max_chan_count) {
channel_limit = _rc_max_chan_count;
}
/* read out and scale values from raw message even if signal is invalid */
for (unsigned int i = 0; i < channel_limit; i++) {
/*
* 1) Constrain to min/max values, as later processing depends on bounds.
*/
if (rc_input.values[i] < _parameters.min[i]) {
rc_input.values[i] = _parameters.min[i];
}
if (rc_input.values[i] > _parameters.max[i]) {
rc_input.values[i] = _parameters.max[i];
}
/*
* 2) Scale around the mid point differently for lower and upper range.
*
* This is necessary as they don't share the same endpoints and slope.
*
* First normalize to 0..1 range with correct sign (below or above center),
* the total range is 2 (-1..1).
* If center (trim) == min, scale to 0..1, if center (trim) == max,
* scale to -1..0.
*
* As the min and max bounds were enforced in step 1), division by zero
* cannot occur, as for the case of center == min or center == max the if
* statement is mutually exclusive with the arithmetic NaN case.
*
* DO NOT REMOVE OR ALTER STEP 1!
*/
if (rc_input.values[i] > (_parameters.trim[i] + _parameters.dz[i])) {
_rc.channels[i] = (rc_input.values[i] - _parameters.trim[i] - _parameters.dz[i]) / (float)(
_parameters.max[i] - _parameters.trim[i] - _parameters.dz[i]);
} else if (rc_input.values[i] < (_parameters.trim[i] - _parameters.dz[i])) {
_rc.channels[i] = (rc_input.values[i] - _parameters.trim[i] + _parameters.dz[i]) / (float)(
_parameters.trim[i] - _parameters.min[i] - _parameters.dz[i]);
} else {
/* in the configured dead zone, output zero */
_rc.channels[i] = 0.0f;
}
_rc.channels[i] *= _parameters.rev[i];
/* handle any parameter-induced blowups */
if (!isfinite(_rc.channels[i])) {
_rc.channels[i] = 0.0f;
}
}
_rc.channel_count = rc_input.channel_count;
_rc.rssi = rc_input.rssi;
_rc.signal_lost = signal_lost;
_rc.timestamp = rc_input.timestamp_last_signal;
/* publish rc_channels topic even if signal is invalid, for debug */
if (_rc_pub > 0) {
orb_publish(ORB_ID(rc_channels), _rc_pub, &_rc);
} else {
_rc_pub = orb_advertise(ORB_ID(rc_channels), &_rc);
}
if (!signal_lost) {
struct manual_control_setpoint_s manual;
memset(&manual, 0 , sizeof(manual));
/* fill values in manual_control_setpoint topic only if signal is valid */
manual.timestamp = rc_input.timestamp_last_signal;
/* limit controls */
manual.y = get_rc_value (rc_channels_s::RC_CHANNELS_FUNCTION_ROLL, -1.0, 1.0);
manual.x = get_rc_value (rc_channels_s::RC_CHANNELS_FUNCTION_PITCH, -1.0, 1.0);
manual.r = get_rc_value (rc_channels_s::RC_CHANNELS_FUNCTION_YAW, -1.0, 1.0);
manual.z = get_rc_value (rc_channels_s::RC_CHANNELS_FUNCTION_THROTTLE, 0.0, 1.0);
manual.flaps = get_rc_value (rc_channels_s::RC_CHANNELS_FUNCTION_FLAPS, -1.0, 1.0);
manual.aux1 = get_rc_value (rc_channels_s::RC_CHANNELS_FUNCTION_AUX_1, -1.0, 1.0);
manual.aux2 = get_rc_value (rc_channels_s::RC_CHANNELS_FUNCTION_AUX_2, -1.0, 1.0);
manual.aux3 = get_rc_value (rc_channels_s::RC_CHANNELS_FUNCTION_AUX_3, -1.0, 1.0);
manual.aux4 = get_rc_value (rc_channels_s::RC_CHANNELS_FUNCTION_AUX_4, -1.0, 1.0);
manual.aux5 = get_rc_value (rc_channels_s::RC_CHANNELS_FUNCTION_AUX_5, -1.0, 1.0);
/* mode switches */
manual.mode_switch = get_rc_sw3pos_position (rc_channels_s::RC_CHANNELS_FUNCTION_MODE, _parameters.rc_auto_th, _parameters.rc_auto_inv, _parameters.rc_assist_th, _parameters.rc_assist_inv);
manual.posctl_switch = get_rc_sw2pos_position (rc_channels_s::RC_CHANNELS_FUNCTION_POSCTL, _parameters.rc_posctl_th, _parameters.rc_posctl_inv);
manual.return_switch = get_rc_sw2pos_position (rc_channels_s::RC_CHANNELS_FUNCTION_RETURN, _parameters.rc_return_th, _parameters.rc_return_inv);
manual.loiter_switch = get_rc_sw2pos_position (rc_channels_s::RC_CHANNELS_FUNCTION_LOITER, _parameters.rc_loiter_th, _parameters.rc_loiter_inv);
manual.acro_switch = get_rc_sw2pos_position (rc_channels_s::RC_CHANNELS_FUNCTION_ACRO, _parameters.rc_acro_th, _parameters.rc_acro_inv);
manual.offboard_switch = get_rc_sw2pos_position (rc_channels_s::RC_CHANNELS_FUNCTION_OFFBOARD, _parameters.rc_offboard_th, _parameters.rc_offboard_inv);
/* publish manual_control_setpoint topic */
if (_manual_control_pub > 0) {
orb_publish(ORB_ID(manual_control_setpoint), _manual_control_pub, &manual);
} else {
_manual_control_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual);
}
/* copy from mapped manual control to control group 3 */
struct actuator_controls_s actuator_group_3;
memset(&actuator_group_3, 0 , sizeof(actuator_group_3));
actuator_group_3.timestamp = rc_input.timestamp_last_signal;
actuator_group_3.control[0] = manual.y;
actuator_group_3.control[1] = manual.x;
actuator_group_3.control[2] = manual.r;
actuator_group_3.control[3] = manual.z;
actuator_group_3.control[4] = manual.flaps;
actuator_group_3.control[5] = manual.aux1;
actuator_group_3.control[6] = manual.aux2;
actuator_group_3.control[7] = manual.aux3;
/* publish actuator_controls_3 topic */
if (_actuator_group_3_pub > 0) {
orb_publish(ORB_ID(actuator_controls_3), _actuator_group_3_pub, &actuator_group_3);
} else {
_actuator_group_3_pub = orb_advertise(ORB_ID(actuator_controls_3), &actuator_group_3);
}
/* Update parameters from RC Channels (tuning with RC) if activated */
static hrt_abstime last_rc_to_param_map_time = 0;
if (hrt_elapsed_time(&last_rc_to_param_map_time) > 1e6) {
set_params_from_rc();
last_rc_to_param_map_time = hrt_absolute_time();
}
}
}
}
void
Sensors::task_main_trampoline(int argc, char *argv[])
{
sensors::g_sensors->task_main();
}
void
Sensors::task_main()
{
/* start individual sensors */
int ret;
ret = accel_init();
if (ret) {
goto exit_immediate;
}
ret = gyro_init();
if (ret) {
goto exit_immediate;
}
ret = mag_init();
if (ret) {
goto exit_immediate;
}
ret = baro_init();
if (ret) {
goto exit_immediate;
}
ret = adc_init();
if (ret) {
goto exit_immediate;
}
/*
* do subscriptions
*/
_gyro_sub = orb_subscribe_multi(ORB_ID(sensor_gyro), 0);
_accel_sub = orb_subscribe_multi(ORB_ID(sensor_accel), 0);
_mag_sub = orb_subscribe_multi(ORB_ID(sensor_mag), 0);
_gyro1_sub = orb_subscribe_multi(ORB_ID(sensor_gyro), 1);
_accel1_sub = orb_subscribe_multi(ORB_ID(sensor_accel), 1);
_mag1_sub = orb_subscribe_multi(ORB_ID(sensor_mag), 1);
_gyro2_sub = orb_subscribe_multi(ORB_ID(sensor_gyro), 2);
_accel2_sub = orb_subscribe_multi(ORB_ID(sensor_accel), 2);
_mag2_sub = orb_subscribe_multi(ORB_ID(sensor_mag), 2);
_rc_sub = orb_subscribe(ORB_ID(input_rc));
_baro_sub = orb_subscribe_multi(ORB_ID(sensor_baro), 0);
_baro1_sub = orb_subscribe_multi(ORB_ID(sensor_baro), 1);
_diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure));
_vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_rc_parameter_map_sub = orb_subscribe(ORB_ID(rc_parameter_map));
_manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
/* rate limit vehicle status updates to 5Hz */
orb_set_interval(_vcontrol_mode_sub, 200);
/* rate limit gyro to 250 Hz (the gyro signal is lowpassed accordingly earlier) */
orb_set_interval(_gyro_sub, 4);
/*
* do advertisements
*/
struct sensor_combined_s raw;
memset(&raw, 0, sizeof(raw));
raw.timestamp = hrt_absolute_time();
raw.adc_voltage_v[0] = 0.0f;
raw.adc_voltage_v[1] = 0.0f;
raw.adc_voltage_v[2] = 0.0f;
raw.adc_voltage_v[3] = 0.0f;
/* set high initial error counts to deselect gyros */
raw.gyro_errcount = 100000;
raw.gyro1_errcount = 100000;
raw.gyro2_errcount = 100000;
/* set high initial error counts to deselect accels */
raw.accelerometer_errcount = 100000;
raw.accelerometer1_errcount = 100000;
raw.accelerometer2_errcount = 100000;
/* set high initial error counts to deselect mags */
raw.magnetometer_errcount = 100000;
raw.magnetometer1_errcount = 100000;
raw.magnetometer2_errcount = 100000;
memset(&_battery_status, 0, sizeof(_battery_status));
_battery_status.voltage_v = -1.0f;
_battery_status.voltage_filtered_v = -1.0f;
_battery_status.current_a = -1.0f;
_battery_status.discharged_mah = -1.0f;
/* get a set of initial values */
accel_poll(raw);
gyro_poll(raw);
mag_poll(raw);
baro_poll(raw);
diff_pres_poll(raw);
parameter_update_poll(true /* forced */);
rc_parameter_map_poll(true /* forced */);
/* advertise the sensor_combined topic and make the initial publication */
_sensor_pub = orb_advertise(ORB_ID(sensor_combined), &raw);
/* wakeup source(s) */
struct pollfd fds[1];
/* use the gyro to pace output - XXX BROKEN if we are using the L3GD20 */
fds[0].fd = _gyro_sub;
fds[0].events = POLLIN;
_task_should_exit = false;
while (!_task_should_exit) {
/* wait for up to 50ms for data */
int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 50);
/* if pret == 0 it timed out - periodic check for _task_should_exit, etc. */
/* this is undesirable but not much we can do - might want to flag unhappy status */
if (pret < 0) {
warn("poll error %d, %d", pret, errno);
continue;
}
perf_begin(_loop_perf);
/* check vehicle status for changes to publication state */
vehicle_control_mode_poll();
/* check parameters for updates */
parameter_update_poll();
/* check rc parameter map for updates */
rc_parameter_map_poll();
/* the timestamp of the raw struct is updated by the gyro_poll() method */
/* copy most recent sensor data */
gyro_poll(raw);
accel_poll(raw);
mag_poll(raw);
baro_poll(raw);
/* work out if main gyro timed out and fail over to alternate gyro */
if (hrt_elapsed_time(&raw.timestamp) > 20 * 1000) {
/* if the secondary failed as well, go to the tertiary */
if (hrt_elapsed_time(&raw.gyro1_timestamp) > 20 * 1000) {
fds[0].fd = _gyro2_sub;
} else {
fds[0].fd = _gyro1_sub;
}
}
/* check battery voltage */
adc_poll(raw);
diff_pres_poll(raw);
/* Inform other processes that new data is available to copy */
if (_publishing) {
orb_publish(ORB_ID(sensor_combined), _sensor_pub, &raw);
}
/* Look for new r/c input data */
rc_poll();
perf_end(_loop_perf);
}
warnx("exiting.");
exit_immediate:
_sensors_task = -1;
_exit(ret);
}
int
Sensors::start()
{
ASSERT(_sensors_task == -1);
/* start the task */
_sensors_task = task_spawn_cmd("sensors_task",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
2000,
(main_t)&Sensors::task_main_trampoline,
nullptr);
/* wait until the task is up and running or has failed */
while (_sensors_task > 0 && _task_should_exit) {
usleep(100);
}
if (_sensors_task < 0) {
return -ERROR;
}
return OK;
}
int sensors_main(int argc, char *argv[])
{
if (argc < 1) {
errx(1, "usage: sensors {start|stop|status}");
}
if (!strcmp(argv[1], "start")) {
if (sensors::g_sensors != nullptr) {
errx(0, "already running");
}
sensors::g_sensors = new Sensors;
if (sensors::g_sensors == nullptr) {
errx(1, "alloc failed");
}
if (OK != sensors::g_sensors->start()) {
delete sensors::g_sensors;
sensors::g_sensors = nullptr;
err(1, "start failed");
}
exit(0);
}
if (!strcmp(argv[1], "stop")) {
if (sensors::g_sensors == nullptr) {
errx(1, "not running");
}
delete sensors::g_sensors;
sensors::g_sensors = nullptr;
exit(0);
}
if (!strcmp(argv[1], "status")) {
if (sensors::g_sensors) {
errx(0, "is running");
} else {
errx(1, "not running");
}
}
warnx("unrecognized command");
return 1;
}