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author | Anton Babushkin <anton.babushkin@me.com> | 2014-05-20 00:03:00 +0200 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-05-20 00:03:00 +0200 |
commit | b12928548c8254ce305f0d96c1b1007b42005be4 (patch) | |
tree | 48ee722bdcddb4204b729bb01ea49942e4fcddd5 /src/modules/sensors/sensors.cpp | |
parent | b165e6ba2000f89b1220393e469911f3e3a73286 (diff) | |
parent | b250e28abfaf4d1adc8bdfb815fff369e0e41cc6 (diff) | |
download | px4-firmware-b12928548c8254ce305f0d96c1b1007b42005be4.tar.gz px4-firmware-b12928548c8254ce305f0d96c1b1007b42005be4.tar.bz2 px4-firmware-b12928548c8254ce305f0d96c1b1007b42005be4.zip |
Merge branch 'master' into acro2
Diffstat (limited to 'src/modules/sensors/sensors.cpp')
-rw-r--r-- | src/modules/sensors/sensors.cpp | 609 |
1 files changed, 329 insertions, 280 deletions
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 73f14225d..b268b1b36 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -36,6 +36,8 @@ * 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> @@ -124,6 +126,12 @@ #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 3.5f @@ -133,7 +141,7 @@ */ #define PCB_TEMP_ESTIMATE_DEG 5.0f -#define limit_minus_one_to_one(arg) (arg < -1.0f) ? -1.0f : ((arg > 1.0f) ? 1.0f : arg) +#define STICK_ON_OFF_LIMIT 0.75f /** * Sensor app start / stop handling function @@ -165,7 +173,16 @@ public: private: static const unsigned _rc_max_chan_count = RC_INPUT_MAX_CHANNELS; /**< maximum number of r/c channels we handle */ - hrt_abstime _rc_last_valid; /**< last time we got a valid RC signal */ + /** + * 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. @@ -209,8 +226,8 @@ private: 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 */ + 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 */ @@ -240,15 +257,14 @@ private: 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_assisted_sw; - int rc_map_mission_sw; + int rc_map_posctl_sw; + int rc_map_loiter_sw; int rc_map_acro_sw; -// int rc_map_offboard_ctrl_mode_sw; - int rc_map_flaps; int rc_map_aux1; @@ -257,14 +273,19 @@ private: int rc_map_aux4; int rc_map_aux5; - float rc_scale_roll; - float rc_scale_pitch; - float rc_scale_yaw; - float rc_scale_flaps; - - int rc_fs_ch; - int rc_fs_mode; - float rc_fs_thr; + 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; + bool rc_assist_inv; + bool rc_auto_inv; + bool rc_posctl_inv; + bool rc_return_inv; + bool rc_loiter_inv; + bool rc_acro_inv; float battery_voltage_scaling; float battery_current_scaling; @@ -291,15 +312,14 @@ private: 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_assisted_sw; - param_t rc_map_mission_sw; + param_t rc_map_posctl_sw; + param_t rc_map_loiter_sw; param_t rc_map_acro_sw; -// param_t rc_map_offboard_ctrl_mode_sw; - param_t rc_map_flaps; param_t rc_map_aux1; @@ -308,14 +328,13 @@ private: param_t rc_map_aux4; param_t rc_map_aux5; - param_t rc_scale_roll; - param_t rc_scale_pitch; - param_t rc_scale_yaw; - param_t rc_scale_flaps; - - param_t rc_fs_ch; - param_t rc_fs_mode; - param_t rc_fs_thr; + 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 battery_voltage_scaling; param_t battery_current_scaling; @@ -422,7 +441,7 @@ private: /** * Main sensor collection task. */ - void task_main() __attribute__((noreturn)); + void task_main(); }; namespace sensors @@ -438,8 +457,6 @@ Sensors *g_sensors = nullptr; } Sensors::Sensors() : - _rc_last_valid(0), - _fd_adc(-1), _last_adc(0), @@ -474,6 +491,7 @@ Sensors::Sensors() : _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++) { @@ -506,6 +524,7 @@ Sensors::Sensors() : _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"); @@ -514,27 +533,24 @@ Sensors::Sensors() : _parameter_handles.rc_map_flaps = param_find("RC_MAP_FLAPS"); /* optional mode switches, not mapped per default */ - _parameter_handles.rc_map_assisted_sw = param_find("RC_MAP_ASSIST_SW"); - _parameter_handles.rc_map_mission_sw = param_find("RC_MAP_MISSIO_SW"); + _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_ctrl_mode_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"); - _parameter_handles.rc_scale_roll = param_find("RC_SCALE_ROLL"); - _parameter_handles.rc_scale_pitch = param_find("RC_SCALE_PITCH"); - _parameter_handles.rc_scale_yaw = param_find("RC_SCALE_YAW"); - _parameter_handles.rc_scale_flaps = param_find("RC_SCALE_FLAPS"); - - /* RC failsafe */ - _parameter_handles.rc_fs_ch = param_find("RC_FS_CH"); - _parameter_handles.rc_fs_mode = param_find("RC_FS_MODE"); - _parameter_handles.rc_fs_thr = param_find("RC_FS_THR"); + /* 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"); /* gyro offsets */ _parameter_handles.gyro_offset[0] = param_find("SENS_GYRO_XOFF"); @@ -635,68 +651,81 @@ Sensors::parameters_update() } /* handle wrong values */ - if (!rc_valid) + 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(paramerr); + warnx("%s", paramerr); } if (param_get(_parameter_handles.rc_map_pitch, &(_parameters.rc_map_pitch)) != OK) { - warnx(paramerr); + warnx("%s", paramerr); } if (param_get(_parameter_handles.rc_map_yaw, &(_parameters.rc_map_yaw)) != OK) { - warnx(paramerr); + warnx("%s", paramerr); } if (param_get(_parameter_handles.rc_map_throttle, &(_parameters.rc_map_throttle)) != OK) { - warnx(paramerr); + 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(paramerr); + warnx("%s", paramerr); } if (param_get(_parameter_handles.rc_map_return_sw, &(_parameters.rc_map_return_sw)) != OK) { - warnx(paramerr); + warnx("%s", paramerr); } - if (param_get(_parameter_handles.rc_map_assisted_sw, &(_parameters.rc_map_assisted_sw)) != OK) { - warnx(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_mission_sw, &(_parameters.rc_map_mission_sw)) != OK) { - warnx(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(paramerr); + warnx("%s", paramerr); } if (param_get(_parameter_handles.rc_map_flaps, &(_parameters.rc_map_flaps)) != OK) { - warnx(paramerr); + warnx("%s", paramerr); } -// if (param_get(_parameter_handles.rc_map_offboard_ctrl_mode_sw, &(_parameters.rc_map_offboard_ctrl_mode_sw)) != OK) { -// warnx("Failed getting offboard control mode sw chan index"); -// } - 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_scale_roll, &(_parameters.rc_scale_roll)); - param_get(_parameter_handles.rc_scale_pitch, &(_parameters.rc_scale_pitch)); - param_get(_parameter_handles.rc_scale_yaw, &(_parameters.rc_scale_yaw)); - param_get(_parameter_handles.rc_scale_flaps, &(_parameters.rc_scale_flaps)); - param_get(_parameter_handles.rc_fs_ch, &(_parameters.rc_fs_ch)); - param_get(_parameter_handles.rc_fs_mode, &(_parameters.rc_fs_mode)); - param_get(_parameter_handles.rc_fs_thr, &(_parameters.rc_fs_thr)); + 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); /* update RC function mappings */ _rc.function[THROTTLE] = _parameters.rc_map_throttle - 1; @@ -706,14 +735,12 @@ Sensors::parameters_update() _rc.function[MODE] = _parameters.rc_map_mode_sw - 1; _rc.function[RETURN] = _parameters.rc_map_return_sw - 1; - _rc.function[ASSISTED] = _parameters.rc_map_assisted_sw - 1; - _rc.function[MISSION] = _parameters.rc_map_mission_sw - 1; + _rc.function[POSCTL] = _parameters.rc_map_posctl_sw - 1; + _rc.function[LOITER] = _parameters.rc_map_loiter_sw - 1; _rc.function[ACRO] = _parameters.rc_map_acro_sw - 1; _rc.function[FLAPS] = _parameters.rc_map_flaps - 1; -// _rc.function[OFFBOARD_MODE] = _parameters.rc_map_offboard_ctrl_mode_sw - 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; @@ -751,12 +778,12 @@ Sensors::parameters_update() /* scaling of ADC ticks to battery voltage */ if (param_get(_parameter_handles.battery_voltage_scaling, &(_parameters.battery_voltage_scaling)) != OK) { - warnx(paramerr); + warnx("%s", paramerr); } /* scaling of ADC ticks to battery current */ if (param_get(_parameter_handles.battery_current_scaling, &(_parameters.battery_current_scaling)) != OK) { - warnx(paramerr); + warnx("%s", paramerr); } param_get(_parameter_handles.board_rotation, &(_parameters.board_rotation)); @@ -791,7 +818,7 @@ Sensors::accel_init() /* set the driver to poll at 1000Hz */ ioctl(fd, SENSORIOCSPOLLRATE, 1000); -#elif CONFIG_ARCH_BOARD_PX4FMU_V2 +#elif CONFIG_ARCH_BOARD_PX4FMU_V2 || CONFIG_ARCH_BOARD_AEROCORE /* set the accel internal sampling rate up to at leat 800Hz */ ioctl(fd, ACCELIOCSSAMPLERATE, 800); @@ -800,7 +827,7 @@ Sensors::accel_init() ioctl(fd, SENSORIOCSPOLLRATE, 800); #else -#error Need a board configuration, either CONFIG_ARCH_BOARD_PX4FMU_V1 or CONFIG_ARCH_BOARD_PX4FMU_V2 +#error Need a board configuration, either CONFIG_ARCH_BOARD_PX4FMU_V1, CONFIG_ARCH_BOARD_PX4FMU_V2 or CONFIG_ARCH_BOARD_AEROCORE #endif @@ -826,12 +853,14 @@ Sensors::gyro_init() #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 /* set the gyro internal sampling rate up to at least 1000Hz */ - if (ioctl(fd, GYROIOCSSAMPLERATE, 1000) != OK) + if (ioctl(fd, GYROIOCSSAMPLERATE, 1000) != OK) { ioctl(fd, GYROIOCSSAMPLERATE, 800); + } /* set the driver to poll at 1000Hz */ - if (ioctl(fd, SENSORIOCSPOLLRATE, 1000) != OK) + if (ioctl(fd, SENSORIOCSPOLLRATE, 1000) != OK) { ioctl(fd, SENSORIOCSPOLLRATE, 800); + } #else @@ -886,12 +915,15 @@ Sensors::mag_init() ret = ioctl(fd, MAGIOCGEXTERNAL, 0); - if (ret < 0) + if (ret < 0) { errx(1, "FATAL: unknown if magnetometer is external or onboard"); - else if (ret == 1) + + } else if (ret == 1) { _mag_is_external = true; - else + + } else { _mag_is_external = false; + } close(fd); } @@ -948,7 +980,7 @@ Sensors::accel_poll(struct sensor_combined_s &raw) raw.accelerometer_raw[1] = accel_report.y_raw; raw.accelerometer_raw[2] = accel_report.z_raw; - raw.accelerometer_counter++; + raw.accelerometer_timestamp = accel_report.timestamp; } } @@ -974,7 +1006,7 @@ Sensors::gyro_poll(struct sensor_combined_s &raw) raw.gyro_raw[1] = gyro_report.y_raw; raw.gyro_raw[2] = gyro_report.z_raw; - raw.gyro_counter++; + raw.timestamp = gyro_report.timestamp; } } @@ -991,10 +1023,12 @@ Sensors::mag_poll(struct sensor_combined_s &raw) math::Vector<3> vect(mag_report.x, mag_report.y, mag_report.z); - if (_mag_is_external) + if (_mag_is_external) { vect = _external_mag_rotation * vect; - else + + } else { vect = _board_rotation * vect; + } raw.magnetometer_ga[0] = vect(0); raw.magnetometer_ga[1] = vect(1); @@ -1004,7 +1038,7 @@ Sensors::mag_poll(struct sensor_combined_s &raw) raw.magnetometer_raw[1] = mag_report.y_raw; raw.magnetometer_raw[2] = mag_report.z_raw; - raw.magnetometer_counter++; + raw.magnetometer_timestamp = mag_report.timestamp; } } @@ -1022,7 +1056,7 @@ Sensors::baro_poll(struct sensor_combined_s &raw) raw.baro_alt_meter = _barometer.altitude; // Altitude in meters raw.baro_temp_celcius = _barometer.temperature; // Temperature in degrees celcius - raw.baro_counter++; + raw.baro_timestamp = _barometer.timestamp; } } @@ -1036,11 +1070,16 @@ Sensors::diff_pres_poll(struct sensor_combined_s &raw) orb_copy(ORB_ID(differential_pressure), _diff_pres_sub, &_diff_pres); raw.differential_pressure_pa = _diff_pres.differential_pressure_pa; - raw.differential_pressure_counter++; + 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.indicated_airspeed_m_s = calc_indicated_airspeed(_diff_pres.differential_pressure_pa); - _airspeed.true_airspeed_m_s = calc_true_airspeed(_diff_pres.differential_pressure_pa + raw.baro_pres_mbar * 1e2f, - raw.baro_pres_mbar * 1e2f, 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) { @@ -1107,8 +1146,9 @@ Sensors::parameter_update_poll(bool forced) _parameters.gyro_scale[2], }; - if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale)) + if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale)) { warn("WARNING: failed to set scale / offsets for gyro"); + } close(fd); @@ -1122,8 +1162,9 @@ Sensors::parameter_update_poll(bool forced) _parameters.accel_scale[2], }; - if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale)) + if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale)) { warn("WARNING: failed to set scale / offsets for accel"); + } close(fd); @@ -1137,8 +1178,9 @@ Sensors::parameter_update_poll(bool forced) _parameters.mag_scale[2], }; - if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale)) + if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale)) { warn("WARNING: failed to set scale / offsets for mag"); + } close(fd); @@ -1152,8 +1194,10 @@ Sensors::parameter_update_poll(bool forced) 1.0f, }; - if (OK != ioctl(fd, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) + if (OK != ioctl(fd, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) { warn("WARNING: failed to set scale / offsets for airspeed sensor"); + } + close(fd); } @@ -1171,22 +1215,27 @@ void Sensors::adc_poll(struct sensor_combined_s &raw) { /* only read if publishing */ - 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 eight channels */ - struct adc_msg_s buf_adc[8]; + /* 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])) { - for (unsigned i = 0; i < sizeof(buf_adc) / sizeof(buf_adc[0]); i++) { + + /* 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])) { + 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 */ @@ -1196,6 +1245,7 @@ Sensors::adc_poll(struct sensor_combined_s &raw) 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; @@ -1214,19 +1264,24 @@ Sensors::adc_poll(struct sensor_combined_s &raw) /* 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) + 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) { @@ -1245,6 +1300,8 @@ Sensors::adc_poll(struct sensor_combined_s &raw) _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 */ @@ -1257,8 +1314,10 @@ Sensors::adc_poll(struct sensor_combined_s &raw) } } } + _last_adc = t; - if (_battery_status.voltage_v > 0.0f) { + + 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); @@ -1271,6 +1330,66 @@ Sensors::adc_poll(struct sensor_combined_s &raw) } } +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() { @@ -1279,71 +1398,58 @@ Sensors::rc_poll() if (rc_updated) { /* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */ - struct rc_input_values rc_input; + struct rc_input_values rc_input; orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input); - if (rc_input.rc_lost) - return; - - struct manual_control_setpoint_s manual_control; - struct actuator_controls_s actuator_group_3; - - /* initialize to default values */ - manual_control.roll = NAN; - manual_control.pitch = NAN; - manual_control.yaw = NAN; - manual_control.throttle = NAN; - - manual_control.mode_switch = NAN; - manual_control.return_switch = NAN; - manual_control.assisted_switch = NAN; - manual_control.mission_switch = NAN; - manual_control.acro_switch = NAN; -// manual_control.auto_offboard_input_switch = NAN; - - manual_control.flaps = NAN; - manual_control.aux1 = NAN; - manual_control.aux2 = NAN; - manual_control.aux3 = NAN; - manual_control.aux4 = NAN; - manual_control.aux5 = NAN; - - /* require at least four channels to consider the signal valid */ - if (rc_input.channel_count < 4) - return; - - /* failsafe check */ - if (_parameters.rc_fs_ch != 0) { - if (_parameters.rc_fs_mode == 0) { - if (rc_input.values[_parameters.rc_fs_ch - 1] < _parameters.rc_fs_thr) - return; - - } else if (_parameters.rc_fs_mode == 1) { - if (rc_input.values[_parameters.rc_fs_ch - 1] > _parameters.rc_fs_thr) - return; + /* 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) + if (channel_limit > _rc_max_chan_count) { channel_limit = _rc_max_chan_count; + } - /* we are accepting this message */ - _rc_last_valid = rc_input.timestamp_last_signal; - - /* Read out values from raw message */ + /* 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]) + if (rc_input.values[i] < _parameters.min[i]) { rc_input.values[i] = _parameters.min[i]; + } - if (rc_input.values[i] > _parameters.max[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. @@ -1375,140 +1481,82 @@ Sensors::rc_poll() _rc.chan[i].scaled *= _parameters.rev[i]; /* handle any parameter-induced blowups */ - if (!isfinite(_rc.chan[i].scaled)) + 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; - manual_control.timestamp = rc_input.timestamp_last_signal; - - /* roll input - rolling right is stick-wise and rotation-wise positive */ - manual_control.roll = limit_minus_one_to_one(_rc.chan[_rc.function[ROLL]].scaled); - /* - * pitch input - stick down is negative, but stick down is pitching up (pos) in NED, - * so reverse sign. - */ - manual_control.pitch = limit_minus_one_to_one(-1.0f * _rc.chan[_rc.function[PITCH]].scaled); - /* yaw input - stick right is positive and positive rotation */ - manual_control.yaw = limit_minus_one_to_one(_rc.chan[_rc.function[YAW]].scaled); - /* throttle input */ - manual_control.throttle = _rc.chan[_rc.function[THROTTLE]].scaled; - - if (manual_control.throttle < 0.0f) manual_control.throttle = 0.0f; - - if (manual_control.throttle > 1.0f) manual_control.throttle = 1.0f; - - /* scale output */ - if (isfinite(_parameters.rc_scale_roll) && _parameters.rc_scale_roll > 0.0f) { - manual_control.roll *= _parameters.rc_scale_roll; - } - - if (isfinite(_parameters.rc_scale_pitch) && _parameters.rc_scale_pitch > 0.0f) { - manual_control.pitch *= _parameters.rc_scale_pitch; - } - - if (isfinite(_parameters.rc_scale_yaw) && _parameters.rc_scale_yaw > 0.0f) { - manual_control.yaw *= _parameters.rc_scale_yaw; - } - - /* flaps */ - if (_rc.function[FLAPS] >= 0) { - - manual_control.flaps = limit_minus_one_to_one(_rc.chan[_rc.function[FLAPS]].scaled); - - if (isfinite(_parameters.rc_scale_flaps) && _parameters.rc_scale_flaps > 0.0f) { - manual_control.flaps *= _parameters.rc_scale_flaps; - } - } - - /* mode switch input */ - if (_rc.function[MODE] >= 0) { - manual_control.mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MODE]].scaled); - } - - /* assisted switch input */ - if (_rc.function[ASSISTED] >= 0) { - manual_control.assisted_switch = limit_minus_one_to_one(_rc.chan[_rc.function[ASSISTED]].scaled); - } - - /* mission switch input */ - if (_rc.function[MISSION] >= 0) { - manual_control.mission_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MISSION]].scaled); - } - - /* acro switch input */ - if (_rc.function[ACRO] >= 0) { - manual_control.acro_switch = limit_minus_one_to_one(_rc.chan[_rc.function[ACRO]].scaled); - } - - /* return switch input */ - if (_rc.function[RETURN] >= 0) { - manual_control.return_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RETURN]].scaled); - } - -// if (_rc.function[OFFBOARD_MODE] >= 0) { -// manual_control.auto_offboard_input_switch = limit_minus_one_to_one(_rc.chan[_rc.function[OFFBOARD_MODE]].scaled); -// } - - /* aux functions, only assign if valid mapping is present */ - if (_rc.function[AUX_1] >= 0) { - manual_control.aux1 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_1]].scaled); - } - - if (_rc.function[AUX_2] >= 0) { - manual_control.aux2 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_2]].scaled); - } - - if (_rc.function[AUX_3] >= 0) { - manual_control.aux3 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_3]].scaled); - } - - if (_rc.function[AUX_4] >= 0) { - manual_control.aux4 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_4]].scaled); - } - - if (_rc.function[AUX_5] >= 0) { - manual_control.aux5 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_5]].scaled); - } - - /* copy from mapped manual control to control group 3 */ - actuator_group_3.control[0] = manual_control.roll; - actuator_group_3.control[1] = manual_control.pitch; - actuator_group_3.control[2] = manual_control.yaw; - actuator_group_3.control[3] = manual_control.throttle; - actuator_group_3.control[4] = manual_control.flaps; - actuator_group_3.control[5] = manual_control.aux1; - actuator_group_3.control[6] = manual_control.aux2; - actuator_group_3.control[7] = manual_control.aux3; - - /* check if ready for publishing */ + /* 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 { - /* advertise the rc topic */ _rc_pub = orb_advertise(ORB_ID(rc_channels), &_rc); } - /* check if ready for publishing */ - if (_manual_control_pub > 0) { - orb_publish(ORB_ID(manual_control_setpoint), _manual_control_pub, &manual_control); + 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); + manual.acro_switch = get_rc_sw2pos_position(ACRO, _parameters.rc_acro_th, _parameters.rc_acro_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_control); - } + } else { + _manual_control_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual); + } - /* check if ready for publishing */ - if (_actuator_group_3_pub > 0) { - orb_publish(ORB_ID(actuator_controls_3), _actuator_group_3_pub, &actuator_group_3); + /* 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)); - } else { - _actuator_group_3_pub = orb_advertise(ORB_ID(actuator_controls_3), &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 @@ -1585,12 +1633,10 @@ Sensors::task_main() while (!_task_should_exit) { - /* wait for up to 100ms for data */ - int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100); + /* wait for up to 50ms for data */ + int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 50); - /* timed out - periodic check for _task_should_exit, etc. */ - if (pret == 0) - continue; + /* 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) { @@ -1606,8 +1652,7 @@ Sensors::task_main() /* check parameters for updates */ parameter_update_poll(); - /* store the time closest to all measurements (this is bogus, sensor timestamps should be propagated...) */ - raw.timestamp = hrt_absolute_time(); + /* the timestamp of the raw struct is updated by the gyro_poll() method */ /* copy most recent sensor data */ gyro_poll(raw); @@ -1621,8 +1666,9 @@ Sensors::task_main() diff_pres_poll(raw); /* Inform other processes that new data is available to copy */ - if (_publishing) + if (_publishing) { orb_publish(ORB_ID(sensor_combined), _sensor_pub, &raw); + } /* Look for new r/c input data */ rc_poll(); @@ -1630,7 +1676,7 @@ Sensors::task_main() perf_end(_loop_perf); } - printf("[sensors] exiting.\n"); + warnx("[sensors] exiting."); _sensors_task = -1; _exit(0); @@ -1645,7 +1691,7 @@ Sensors::start() _sensors_task = task_spawn_cmd("sensors_task", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, - 2048, + 2000, (main_t)&Sensors::task_main_trampoline, nullptr); @@ -1659,18 +1705,21 @@ Sensors::start() int sensors_main(int argc, char *argv[]) { - if (argc < 1) + if (argc < 1) { errx(1, "usage: sensors {start|stop|status}"); + } if (!strcmp(argv[1], "start")) { - if (sensors::g_sensors != nullptr) + if (sensors::g_sensors != nullptr) { errx(0, "already running"); + } sensors::g_sensors = new Sensors; - if (sensors::g_sensors == nullptr) + if (sensors::g_sensors == nullptr) { errx(1, "alloc failed"); + } if (OK != sensors::g_sensors->start()) { delete sensors::g_sensors; @@ -1682,8 +1731,9 @@ int sensors_main(int argc, char *argv[]) } if (!strcmp(argv[1], "stop")) { - if (sensors::g_sensors == nullptr) + if (sensors::g_sensors == nullptr) { errx(1, "not running"); + } delete sensors::g_sensors; sensors::g_sensors = nullptr; @@ -1702,4 +1752,3 @@ int sensors_main(int argc, char *argv[]) warnx("unrecognized command"); return 1; } - |