/****************************************************************************
*
* Copyright (c) 2012-2014 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
* Sensor readout process.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
*/
#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 <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>
#define GYRO_HEALTH_COUNTER_LIMIT_ERROR 20 /* 40 ms downtime at 500 Hz update rate */
#define ACC_HEALTH_COUNTER_LIMIT_ERROR 20 /* 40 ms downtime at 500 Hz update rate */
#define MAGN_HEALTH_COUNTER_LIMIT_ERROR 100 /* 1000 ms downtime at 100 Hz update rate */
#define BARO_HEALTH_COUNTER_LIMIT_ERROR 50 /* 500 ms downtime at 100 Hz update rate */
#define ADC_HEALTH_COUNTER_LIMIT_ERROR 10 /* 100 ms downtime at 100 Hz update rate */
#define GYRO_HEALTH_COUNTER_LIMIT_OK 5
#define ACC_HEALTH_COUNTER_LIMIT_OK 5
#define MAGN_HEALTH_COUNTER_LIMIT_OK 5
#define BARO_HEALTH_COUNTER_LIMIT_OK 5
#define ADC_HEALTH_COUNTER_LIMIT_OK 5
/**
* 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
#define BATT_V_LOWPASS 0.001f
#define BATT_V_IGNORE_THRESHOLD 3.5f
/**
* 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
/**
* 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(enum RC_CHANNELS_FUNCTION func, float min_value, float max_value);
/**
* Get switch position for specified function.
*/
switch_pos_t get_rc_sw3pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv, float mid_th, bool mid_inv);
switch_pos_t get_rc_sw2pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv);
/**
* 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 gyro data subscription */
int _accel_sub; /**< raw accel data subscription */
int _mag_sub; /**< raw mag data subscription */
int _rc_sub; /**< raw rc channels data subscription */
int _baro_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 _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;
math::Matrix<3, 3> _board_rotation; /**< rotation matrix for the orientation that the board is mounted */
math::Matrix<3, 3> _external_mag_rotation; /**< rotation matrix for the orientation that an external mag is mounted */
bool _mag_is_external; /**< true if the active mag is on an external board */
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 gyro_offset[3];
float gyro_scale[3];
float mag_offset[3];
float mag_scale[3];
float accel_offset[3];
float accel_scale[3];
float diff_pres_offset_pa;
float diff_pres_analog_enabled;
int board_rotation;
int external_mag_rotation;
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_flaps;
int rc_map_aux1;
int rc_map_aux2;
int rc_map_aux3;
int rc_map_aux4;
int rc_map_aux5;
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;
bool rc_assist_inv;
bool rc_auto_inv;
bool rc_posctl_inv;
bool rc_return_inv;
bool rc_loiter_inv;
float battery_voltage_scaling;
float battery_current_scaling;
} _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 gyro_offset[3];
param_t gyro_scale[3];
param_t accel_offset[3];
param_t accel_scale[3];
param_t mag_offset[3];
param_t mag_scale[3];
param_t diff_pres_offset_pa;
param_t diff_pres_analog_enabled;
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_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_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 battery_voltage_scaling;
param_t battery_current_scaling;
param_t board_rotation;
param_t external_mag_rotation;
} _parameter_handles; /**< handles for interesting parameters */
/**
* Update our local parameter cache.
*/
int parameters_update();
/**
* Do accel-related initialisation.
*/
void accel_init();
/**
* Do gyro-related initialisation.
*/
void gyro_init();
/**
* Do mag-related initialisation.
*/
void mag_init();
/**
* Do baro-related initialisation.
*/
void baro_init();
/**
* Do adc-related initialisation.
*/
void 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);
/**
* 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
{
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
Sensors *g_sensors = nullptr;
}
Sensors::Sensors() :
_fd_adc(-1),
_last_adc(0),
_task_should_exit(false),
_sensors_task(-1),
_hil_enabled(false),
_publishing(true),
/* subscriptions */
_gyro_sub(-1),
_accel_sub(-1),
_mag_sub(-1),
_rc_sub(-1),
_baro_sub(-1),
_vcontrol_mode_sub(-1),
_params_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")),
_mag_is_external(false),
_battery_discharged(0),
_battery_current_timestamp(0)
{
memset(&_rc, 0, sizeof(_rc));
/* 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_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 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");
/* gyro offsets */
_parameter_handles.gyro_offset[0] = param_find("SENS_GYRO_XOFF");
_parameter_handles.gyro_offset[1] = param_find("SENS_GYRO_YOFF");
_parameter_handles.gyro_offset[2] = param_find("SENS_GYRO_ZOFF");
_parameter_handles.gyro_scale[0] = param_find("SENS_GYRO_XSCALE");
_parameter_handles.gyro_scale[1] = param_find("SENS_GYRO_YSCALE");
_parameter_handles.gyro_scale[2] = param_find("SENS_GYRO_ZSCALE");
/* accel offsets */
_parameter_handles.accel_offset[0] = param_find("SENS_ACC_XOFF");
_parameter_handles.accel_offset[1] = param_find("SENS_ACC_YOFF");
_parameter_handles.accel_offset[2] = param_find("SENS_ACC_ZOFF");
_parameter_handles.accel_scale[0] = param_find("SENS_ACC_XSCALE");
_parameter_handles.accel_scale[1] = param_find("SENS_ACC_YSCALE");
_parameter_handles.accel_scale[2] = param_find("SENS_ACC_ZSCALE");
/* mag offsets */
_parameter_handles.mag_offset[0] = param_find("SENS_MAG_XOFF");
_parameter_handles.mag_offset[1] = param_find("SENS_MAG_YOFF");
_parameter_handles.mag_offset[2] = param_find("SENS_MAG_ZOFF");
_parameter_handles.mag_scale[0] = param_find("SENS_MAG_XSCALE");
_parameter_handles.mag_scale[1] = param_find("SENS_MAG_YSCALE");
_parameter_handles.mag_scale[2] = param_find("SENS_MAG_ZSCALE");
/* Differential pressure offset */
_parameter_handles.diff_pres_offset_pa = param_find("SENS_DPRES_OFF");
_parameter_handles.diff_pres_analog_enabled = param_find("SENS_DPRES_ANA");
_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.external_mag_rotation = param_find("SENS_EXT_MAG_ROT");
/* 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, 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_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));
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);
/* update RC function mappings */
_rc.function[THROTTLE] = _parameters.rc_map_throttle - 1;
_rc.function[ROLL] = _parameters.rc_map_roll - 1;
_rc.function[PITCH] = _parameters.rc_map_pitch - 1;
_rc.function[YAW] = _parameters.rc_map_yaw - 1;
_rc.function[MODE] = _parameters.rc_map_mode_sw - 1;
_rc.function[RETURN] = _parameters.rc_map_return_sw - 1;
_rc.function[POSCTL] = _parameters.rc_map_posctl_sw - 1;
_rc.function[LOITER] = _parameters.rc_map_loiter_sw - 1;
_rc.function[FLAPS] = _parameters.rc_map_flaps - 1;
_rc.function[AUX_1] = _parameters.rc_map_aux1 - 1;
_rc.function[AUX_2] = _parameters.rc_map_aux2 - 1;
_rc.function[AUX_3] = _parameters.rc_map_aux3 - 1;
_rc.function[AUX_4] = _parameters.rc_map_aux4 - 1;
_rc.function[AUX_5] = _parameters.rc_map_aux5 - 1;
/* gyro offsets */
param_get(_parameter_handles.gyro_offset[0], &(_parameters.gyro_offset[0]));
param_get(_parameter_handles.gyro_offset[1], &(_parameters.gyro_offset[1]));
param_get(_parameter_handles.gyro_offset[2], &(_parameters.gyro_offset[2]));
param_get(_parameter_handles.gyro_scale[0], &(_parameters.gyro_scale[0]));
param_get(_parameter_handles.gyro_scale[1], &(_parameters.gyro_scale[1]));
param_get(_parameter_handles.gyro_scale[2], &(_parameters.gyro_scale[2]));
/* accel offsets */
param_get(_parameter_handles.accel_offset[0], &(_parameters.accel_offset[0]));
param_get(_parameter_handles.accel_offset[1], &(_parameters.accel_offset[1]));
param_get(_parameter_handles.accel_offset[2], &(_parameters.accel_offset[2]));
param_get(_parameter_handles.accel_scale[0], &(_parameters.accel_scale[0]));
param_get(_parameter_handles.accel_scale[1], &(_parameters.accel_scale[1]));
param_get(_parameter_handles.accel_scale[2], &(_parameters.accel_scale[2]));
/* mag offsets */
param_get(_parameter_handles.mag_offset[0], &(_parameters.mag_offset[0]));
param_get(_parameter_handles.mag_offset[1], &(_parameters.mag_offset[1]));
param_get(_parameter_handles.mag_offset[2], &(_parameters.mag_offset[2]));
/* mag scaling */
param_get(_parameter_handles.mag_scale[0], &(_parameters.mag_scale[0]));
param_get(_parameter_handles.mag_scale[1], &(_parameters.mag_scale[1]));
param_get(_parameter_handles.mag_scale[2], &(_parameters.mag_scale[2]));
/* Airspeed offset */
param_get(_parameter_handles.diff_pres_offset_pa, &(_parameters.diff_pres_offset_pa));
param_get(_parameter_handles.diff_pres_analog_enabled, &(_parameters.diff_pres_analog_enabled));
/* 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.external_mag_rotation, &(_parameters.external_mag_rotation));
get_rot_matrix((enum Rotation)_parameters.board_rotation, &_board_rotation);
get_rot_matrix((enum Rotation)_parameters.external_mag_rotation, &_external_mag_rotation);
return OK;
}
void
Sensors::accel_init()
{
int fd;
fd = open(ACCEL_DEVICE_PATH, 0);
if (fd < 0) {
warn("%s", ACCEL_DEVICE_PATH);
errx(1, "FATAL: no accelerometer found");
} else {
// XXX do the check more elegantly
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
/* set the accel internal sampling rate up to at leat 1000Hz */
ioctl(fd, ACCELIOCSSAMPLERATE, 1000);
/* set the driver to poll at 1000Hz */
ioctl(fd, SENSORIOCSPOLLRATE, 1000);
#elif CONFIG_ARCH_BOARD_PX4FMU_V2
/* set the accel internal sampling rate up to at leat 800Hz */
ioctl(fd, ACCELIOCSSAMPLERATE, 800);
/* set the driver to poll at 800Hz */
ioctl(fd, SENSORIOCSPOLLRATE, 800);
#else
#error Need a board configuration, either CONFIG_ARCH_BOARD_PX4FMU_V1 or CONFIG_ARCH_BOARD_PX4FMU_V2
#endif
close(fd);
}
}
void
Sensors::gyro_init()
{
int fd;
fd = open(GYRO_DEVICE_PATH, 0);
if (fd < 0) {
warn("%s", GYRO_DEVICE_PATH);
errx(1, "FATAL: no gyro found");
} else {
// XXX do the check more elegantly
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
/* set the gyro internal sampling rate up to at least 1000Hz */
if (ioctl(fd, GYROIOCSSAMPLERATE, 1000) != OK) {
ioctl(fd, GYROIOCSSAMPLERATE, 800);
}
/* set the driver to poll at 1000Hz */
if (ioctl(fd, SENSORIOCSPOLLRATE, 1000) != OK) {
ioctl(fd, SENSORIOCSPOLLRATE, 800);
}
#else
/* set the gyro internal sampling rate up to at least 760Hz */
ioctl(fd, GYROIOCSSAMPLERATE, 760);
/* set the driver to poll at 760Hz */
ioctl(fd, SENSORIOCSPOLLRATE, 760);
#endif
close(fd);
}
}
void
Sensors::mag_init()
{
int fd;
int ret;
fd = open(MAG_DEVICE_PATH, 0);
if (fd < 0) {
warn("%s", MAG_DEVICE_PATH);
errx(1, "FATAL: no magnetometer found");
}
/* 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 {
errx(1, "FATAL: mag sampling rate could not be set");
}
}
ret = ioctl(fd, MAGIOCGEXTERNAL, 0);
if (ret < 0) {
errx(1, "FATAL: unknown if magnetometer is external or onboard");
} else if (ret == 1) {
_mag_is_external = true;
} else {
_mag_is_external = false;
}
close(fd);
}
void
Sensors::baro_init()
{
int fd;
fd = open(BARO_DEVICE_PATH, 0);
if (fd < 0) {
warn("%s", BARO_DEVICE_PATH);
errx(1, "FATAL: No barometer found");
}
/* set the driver to poll at 150Hz */
ioctl(fd, SENSORIOCSPOLLRATE, 150);
close(fd);
}
void
Sensors::adc_init()
{
_fd_adc = open(ADC_DEVICE_PATH, O_RDONLY | O_NONBLOCK);
if (_fd_adc < 0) {
warn(ADC_DEVICE_PATH);
warnx("FATAL: no ADC found");
}
}
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;
}
}
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;
}
}
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);
if (_mag_is_external) {
vect = _external_mag_rotation * vect;
} else {
vect = _board_rotation * 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;
}
}
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;
}
}
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_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;
_airspeed.indicated_airspeed_m_s = calc_indicated_airspeed(_diff_pres.differential_pressure_filtered_pa);
_airspeed.true_airspeed_m_s = 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();
/* update sensor offsets */
int fd = open(GYRO_DEVICE_PATH, 0);
struct gyro_scale gscale = {
_parameters.gyro_offset[0],
_parameters.gyro_scale[0],
_parameters.gyro_offset[1],
_parameters.gyro_scale[1],
_parameters.gyro_offset[2],
_parameters.gyro_scale[2],
};
if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale)) {
warn("WARNING: failed to set scale / offsets for gyro");
}
close(fd);
fd = open(ACCEL_DEVICE_PATH, 0);
struct accel_scale ascale = {
_parameters.accel_offset[0],
_parameters.accel_scale[0],
_parameters.accel_offset[1],
_parameters.accel_scale[1],
_parameters.accel_offset[2],
_parameters.accel_scale[2],
};
if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale)) {
warn("WARNING: failed to set scale / offsets for accel");
}
close(fd);
fd = open(MAG_DEVICE_PATH, 0);
struct mag_scale mscale = {
_parameters.mag_offset[0],
_parameters.mag_scale[0],
_parameters.mag_offset[1],
_parameters.mag_scale[1],
_parameters.mag_offset[2],
_parameters.mag_scale[2],
};
if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale)) {
warn("WARNING: failed to set scale / offsets for mag");
}
close(fd);
fd = open(AIRSPEED_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);
}
#if 0
printf("CH0: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[0], (int)_parameters.min[0], (int)(_rc.chan[0].scaling_factor * 10000), (int)(_rc.chan[0].mid), (int)_rc.function[0]);
printf("CH1: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[1], (int)_parameters.min[1], (int)(_rc.chan[1].scaling_factor * 10000), (int)(_rc.chan[1].mid), (int)_rc.function[1]);
printf("MAN: %d %d\n", (int)(_rc.chan[0].scaled * 100), (int)(_rc.chan[1].scaled * 100));
fflush(stdout);
usleep(5000);
#endif
}
}
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_enabled) {
float diff_pres_pa = voltage * 1000.0f - _parameters.diff_pres_offset_pa; //for MPXV7002DP sensor
_diff_pres.timestamp = t;
_diff_pres.differential_pressure_pa = diff_pres_pa;
_diff_pres.differential_pressure_filtered_pa = diff_pres_pa;
_diff_pres.temperature = -1000.0f;
_diff_pres.voltage = voltage;
/* 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(enum RC_CHANNELS_FUNCTION func, float min_value, float max_value)
{
if (_rc.function[func] >= 0) {
float value = _rc.chan[_rc.function[func]].scaled;
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(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv, float mid_th, bool mid_inv)
{
if (_rc.function[func] >= 0) {
float value = 0.5f * _rc.chan[_rc.function[func]].scaled + 0.5f;
if (on_inv ? value < on_th : value > on_th) {
return SWITCH_POS_ON;
} else if (mid_inv ? value < mid_th : value > mid_th) {
return SWITCH_POS_MIDDLE;
} else {
return SWITCH_POS_OFF;
}
} else {
return SWITCH_POS_NONE;
}
}
switch_pos_t
Sensors::get_rc_sw2pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv)
{
if (_rc.function[func] >= 0) {
float value = 0.5f * _rc.chan[_rc.function[func]].scaled + 0.5f;
if (on_inv ? value < on_th : value > on_th) {
return SWITCH_POS_ON;
} else {
return SWITCH_POS_OFF;
}
} else {
return SWITCH_POS_NONE;
}
}
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.chan[i].scaled = (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.chan[i].scaled = (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.chan[i].scaled = 0.0f;
}
_rc.chan[i].scaled *= _parameters.rev[i];
/* handle any parameter-induced blowups */
if (!isfinite(_rc.chan[i].scaled)) {
_rc.chan[i].scaled = 0.0f;
}
}
_rc.chan_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(ROLL, -1.0, 1.0);
manual.x = get_rc_value(PITCH, -1.0, 1.0);
manual.r = get_rc_value(YAW, -1.0, 1.0);
manual.z = get_rc_value(THROTTLE, 0.0, 1.0);
manual.flaps = get_rc_value(FLAPS, -1.0, 1.0);
manual.aux1 = get_rc_value(AUX_1, -1.0, 1.0);
manual.aux2 = get_rc_value(AUX_2, -1.0, 1.0);
manual.aux3 = get_rc_value(AUX_3, -1.0, 1.0);
manual.aux4 = get_rc_value(AUX_4, -1.0, 1.0);
manual.aux5 = get_rc_value(AUX_5, -1.0, 1.0);
/* mode switches */
manual.mode_switch = get_rc_sw3pos_position(MODE, _parameters.rc_auto_th, _parameters.rc_auto_inv, _parameters.rc_assist_th, _parameters.rc_assist_inv);
manual.posctl_switch = get_rc_sw2pos_position(POSCTL, _parameters.rc_posctl_th, _parameters.rc_posctl_inv);
manual.return_switch = get_rc_sw2pos_position(RETURN, _parameters.rc_return_th, _parameters.rc_return_inv);
manual.loiter_switch = get_rc_sw2pos_position(LOITER, _parameters.rc_loiter_th, _parameters.rc_loiter_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);
}
}
}
}
void
Sensors::task_main_trampoline(int argc, char *argv[])
{
sensors::g_sensors->task_main();
}
void
Sensors::task_main()
{
/* start individual sensors */
accel_init();
gyro_init();
mag_init();
baro_init();
adc_init();
/*
* do subscriptions
*/
_gyro_sub = orb_subscribe(ORB_ID(sensor_gyro));
_accel_sub = orb_subscribe(ORB_ID(sensor_accel));
_mag_sub = orb_subscribe(ORB_ID(sensor_mag));
_rc_sub = orb_subscribe(ORB_ID(input_rc));
_baro_sub = orb_subscribe(ORB_ID(sensor_baro));
_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));
_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;
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 */);
/* 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;
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();
/* 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);
/* 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("[sensors] exiting.");
_sensors_task = -1;
_exit(0);
}
int
Sensors::start()
{
ASSERT(_sensors_task == -1);
/* start the task */
_sensors_task = task_spawn_cmd("sensors_task",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
2048,
(main_t)&Sensors::task_main_trampoline,
nullptr);
if (_sensors_task < 0) {
warn("task start failed");
return -errno;
}
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;
}
