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-rw-r--r--src/modules/sensors/sensors.cpp53
1 files changed, 37 insertions, 16 deletions
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index b268b1b36..3307354a0 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -229,7 +229,7 @@ private:
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 */
@@ -252,6 +252,8 @@ private:
int board_rotation;
int external_mag_rotation;
+
+ float board_offset[3];
int rc_map_roll;
int rc_map_pitch;
@@ -341,6 +343,8 @@ private:
param_t board_rotation;
param_t external_mag_rotation;
+
+ param_t board_offset[3];
} _parameter_handles; /**< handles for interesting parameters */
@@ -587,6 +591,11 @@ Sensors::Sensors() :
/* rotations */
_parameter_handles.board_rotation = param_find("SENS_BOARD_ROT");
_parameter_handles.external_mag_rotation = param_find("SENS_EXT_MAG_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");
/* fetch initial parameter values */
parameters_update();
@@ -640,7 +649,7 @@ Sensors::parameters_update()
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]));
+ 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;
@@ -791,6 +800,18 @@ Sensors::parameters_update()
get_rot_matrix((enum Rotation)_parameters.board_rotation, &_board_rotation);
get_rot_matrix((enum Rotation)_parameters.external_mag_rotation, &_external_mag_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;
return OK;
}
@@ -1202,9 +1223,9 @@ Sensors::parameter_update_poll(bool forced)
}
#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));
+ printf("CH0: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[0], (int)_parameters.min[0], (int)(_rc.channels[0].scaling_factor * 10000), (int)(_rc.channels[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.channels[1].scaling_factor * 10000), (int)(_rc.channels[1].mid), (int)_rc.function[1]);
+ printf("MAN: %d %d\n", (int)(_rc.channels[0] * 100), (int)(_rc.channels[1] * 100));
fflush(stdout);
usleep(5000);
#endif
@@ -1294,7 +1315,7 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
* 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) {
+ if (voltage > 0.4f && (_parameters.diff_pres_analog_enabled > 0)) {
float diff_pres_pa = voltage * 1000.0f - _parameters.diff_pres_offset_pa; //for MPXV7002DP sensor
@@ -1334,7 +1355,7 @@ 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;
+ float value = _rc.channels[_rc.function[func]];
if (value < min_value) {
return min_value;
@@ -1355,7 +1376,7 @@ 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;
+ float value = 0.5f * _rc.channels[_rc.function[func]] + 0.5f;
if (on_inv ? value < on_th : value > on_th) {
return SWITCH_POS_ON;
@@ -1376,7 +1397,7 @@ 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;
+ float value = 0.5f * _rc.channels[_rc.function[func]] + 0.5f;
if (on_inv ? value < on_th : value > on_th) {
return SWITCH_POS_ON;
@@ -1468,25 +1489,25 @@ Sensors::rc_poll()
* 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]);
+ _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.chan[i].scaled = (rc_input.values[i] - _parameters.trim[i] + _parameters.dz[i]) / (float)(_parameters.trim[i] - _parameters.min[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.chan[i].scaled = 0.0f;
+ _rc.channels[i] = 0.0f;
}
- _rc.chan[i].scaled *= _parameters.rev[i];
+ _rc.channels[i] *= _parameters.rev[i];
/* handle any parameter-induced blowups */
- if (!isfinite(_rc.chan[i].scaled)) {
- _rc.chan[i].scaled = 0.0f;
+ if (!isfinite(_rc.channels[i])) {
+ _rc.channels[i] = 0.0f;
}
}
- _rc.chan_count = rc_input.channel_count;
+ _rc.channel_count = rc_input.channel_count;
_rc.rssi = rc_input.rssi;
_rc.signal_lost = signal_lost;
_rc.timestamp = rc_input.timestamp_last_signal;
generated by cgit v1.2.3 (git 2.39.1) at 2024-08-05 07:45:27 +0000