aboutsummaryrefslogtreecommitdiff
path: root/src/modules/sensors/sensors.cpp
diff options
context:
space:
mode:
Diffstat (limited to 'src/modules/sensors/sensors.cpp')
-rw-r--r--src/modules/sensors/sensors.cpp1491
1 files changed, 1491 insertions, 0 deletions
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
new file mode 100644
index 000000000..560ef6406
--- /dev/null
+++ b/src/modules/sensors/sensors.cpp
@@ -0,0 +1,1491 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ * Author: Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * 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>
+ */
+
+#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 <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 <systemlib/systemlib.h>
+#include <systemlib/param/param.h>
+#include <systemlib/err.h>
+#include <systemlib/perf_counter.h>
+
+#include <systemlib/ppm_decode.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/vehicle_status.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
+
+#define ADC_BATTERY_VOLTAGE_CHANNEL 10
+#define ADC_AIRSPEED_VOLTAGE_CHANNEL 11
+
+#define BAT_VOL_INITIAL 0.f
+#define BAT_VOL_LOWPASS_1 0.99f
+#define BAT_VOL_LOWPASS_2 0.01f
+#define VOLTAGE_BATTERY_IGNORE_THRESHOLD_VOLTS 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 PPM_INPUT_TIMEOUT_INTERVAL 50000 /**< 50 ms timeout / 20 Hz */
+
+#define limit_minus_one_to_one(arg) (arg < -1.0f) ? -1.0f : ((arg > 1.0f) ? 1.0f : arg)
+
+/**
+ * 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_CHANNELS_MAX; /**< maximum number of r/c channels we handle */
+
+#if CONFIG_HRT_PPM
+ hrt_abstime _ppm_last_valid; /**< last time we got a valid ppm signal */
+
+ /**
+ * Gather and publish PPM input data.
+ */
+ void ppm_poll();
+#endif
+
+ /* 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 _vstatus_sub; /**< vehicle status 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 _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 {
+ 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 ex[_rc_max_chan_count];
+ float scaling_factor[_rc_max_chan_count];
+
+ float gyro_offset[3];
+ float mag_offset[3];
+ float mag_scale[3];
+ float accel_offset[3];
+ float accel_scale[3];
+ int diff_pres_offset_pa;
+
+ int rc_type;
+
+ int rc_map_roll;
+ int rc_map_pitch;
+ int rc_map_yaw;
+ int rc_map_throttle;
+
+ int rc_map_mode_sw;
+ int rc_map_return_sw;
+ int rc_map_mission_sw;
+
+// int rc_map_offboard_ctrl_mode_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;
+
+ float rc_scale_roll;
+ float rc_scale_pitch;
+ float rc_scale_yaw;
+ float rc_scale_flaps;
+
+ float battery_voltage_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 ex[_rc_max_chan_count];
+ param_t rc_type;
+
+ param_t rc_demix;
+
+ param_t gyro_offset[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 rc_map_roll;
+ param_t rc_map_pitch;
+ param_t rc_map_yaw;
+ param_t rc_map_throttle;
+
+ param_t rc_map_mode_sw;
+ param_t rc_map_return_sw;
+ param_t rc_map_mission_sw;
+
+// param_t rc_map_offboard_ctrl_mode_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_scale_roll;
+ param_t rc_scale_pitch;
+ param_t rc_scale_yaw;
+ param_t rc_scale_flaps;
+
+ param_t battery_voltage_scaling;
+ } _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 status.
+ */
+ void vehicle_status_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() __attribute__((noreturn));
+};
+
+namespace sensors
+{
+
+/* oddly, ERROR is not defined for c++ */
+#ifdef ERROR
+# undef ERROR
+#endif
+static const int ERROR = -1;
+
+Sensors *g_sensors;
+}
+
+Sensors::Sensors() :
+#ifdef CONFIG_HRT_PPM
+ _ppm_last_valid(0),
+#endif
+
+ _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),
+ _vstatus_sub(-1),
+ _params_sub(-1),
+ _manual_control_sub(-1),
+
+/* publications */
+ _sensor_pub(-1),
+ _manual_control_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"))
+{
+
+ /* 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);
+
+ }
+
+ _parameter_handles.rc_type = param_find("RC_TYPE");
+
+ /* 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");
+
+ /* 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_mission_sw = param_find("RC_MAP_MISSIO_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");
+
+ /* 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");
+
+ /* 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.battery_voltage_scaling = param_find("BAT_V_SCALING");
+
+ /* 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;
+
+ /* rc values */
+ for (unsigned int i = 0; i < RC_CHANNELS_MAX; i++) {
+
+ if (param_get(_parameter_handles.min[i], &(_parameters.min[i])) != OK) {
+ warnx("Failed getting min for chan %d", i);
+ }
+
+ if (param_get(_parameter_handles.trim[i], &(_parameters.trim[i])) != OK) {
+ warnx("Failed getting trim for chan %d", i);
+ }
+
+ if (param_get(_parameter_handles.max[i], &(_parameters.max[i])) != OK) {
+ warnx("Failed getting max for chan %d", i);
+ }
+
+ if (param_get(_parameter_handles.rev[i], &(_parameters.rev[i])) != OK) {
+ warnx("Failed getting rev for chan %d", i);
+ }
+
+ if (param_get(_parameter_handles.dz[i], &(_parameters.dz[i])) != OK) {
+ warnx("Failed getting dead zone for chan %d", i);
+ }
+
+ _parameters.scaling_factor[i] = (1.0f / ((_parameters.max[i] - _parameters.min[i]) / 2.0f) * _parameters.rev[i]);
+
+ /* handle blowup in the scaling factor calculation */
+ if (!isfinite(_parameters.scaling_factor[i]) ||
+ _parameters.scaling_factor[i] * _parameters.rev[i] < 0.000001f ||
+ _parameters.scaling_factor[i] * _parameters.rev[i] > 0.2f) {
+
+ /* scaling factors do not make sense, lock them down */
+ _parameters.scaling_factor[i] = 0;
+ rc_valid = false;
+ }
+
+ }
+
+ /* handle wrong values */
+ if (!rc_valid)
+ warnx("WARNING WARNING WARNING\n\nRC CALIBRATION NOT SANE!\n\n");
+
+ /* remote control type */
+ if (param_get(_parameter_handles.rc_type, &(_parameters.rc_type)) != OK) {
+ warnx("Failed getting remote control type");
+ }
+
+ /* channel mapping */
+ if (param_get(_parameter_handles.rc_map_roll, &(_parameters.rc_map_roll)) != OK) {
+ warnx("Failed getting roll chan index");
+ }
+
+ if (param_get(_parameter_handles.rc_map_pitch, &(_parameters.rc_map_pitch)) != OK) {
+ warnx("Failed getting pitch chan index");
+ }
+
+ if (param_get(_parameter_handles.rc_map_yaw, &(_parameters.rc_map_yaw)) != OK) {
+ warnx("Failed getting yaw chan index");
+ }
+
+ if (param_get(_parameter_handles.rc_map_throttle, &(_parameters.rc_map_throttle)) != OK) {
+ warnx("Failed getting throttle chan index");
+ }
+
+ if (param_get(_parameter_handles.rc_map_mode_sw, &(_parameters.rc_map_mode_sw)) != OK) {
+ warnx("Failed getting mode sw chan index");
+ }
+
+ if (param_get(_parameter_handles.rc_map_return_sw, &(_parameters.rc_map_return_sw)) != OK) {
+ warnx("Failed getting return sw chan index");
+ }
+
+ if (param_get(_parameter_handles.rc_map_mission_sw, &(_parameters.rc_map_mission_sw)) != OK) {
+ warnx("Failed getting mission sw chan index");
+ }
+
+ if (param_get(_parameter_handles.rc_map_flaps, &(_parameters.rc_map_flaps)) != OK) {
+ warnx("Failed getting flaps chan index");
+ }
+
+// 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");
+// }
+
+ if (param_get(_parameter_handles.rc_map_aux1, &(_parameters.rc_map_aux1)) != OK) {
+ warnx("Failed getting mode aux 1 index");
+ }
+
+ if (param_get(_parameter_handles.rc_map_aux2, &(_parameters.rc_map_aux2)) != OK) {
+ warnx("Failed getting mode aux 2 index");
+ }
+
+ if (param_get(_parameter_handles.rc_map_aux3, &(_parameters.rc_map_aux3)) != OK) {
+ warnx("Failed getting mode aux 3 index");
+ }
+
+ if (param_get(_parameter_handles.rc_map_aux4, &(_parameters.rc_map_aux4)) != OK) {
+ warnx("Failed getting mode aux 4 index");
+ }
+
+ if (param_get(_parameter_handles.rc_map_aux5, &(_parameters.rc_map_aux5)) != OK) {
+ warnx("Failed getting mode aux 5 index");
+ }
+
+ if (param_get(_parameter_handles.rc_scale_roll, &(_parameters.rc_scale_roll)) != OK) {
+ warnx("Failed getting rc scaling for roll");
+ }
+
+ if (param_get(_parameter_handles.rc_scale_pitch, &(_parameters.rc_scale_pitch)) != OK) {
+ warnx("Failed getting rc scaling for pitch");
+ }
+
+ if (param_get(_parameter_handles.rc_scale_yaw, &(_parameters.rc_scale_yaw)) != OK) {
+ warnx("Failed getting rc scaling for yaw");
+ }
+
+ if (param_get(_parameter_handles.rc_scale_flaps, &(_parameters.rc_scale_flaps)) != OK) {
+ warnx("Failed getting rc scaling for flaps");
+ }
+
+ /* 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[MISSION] = _parameters.rc_map_mission_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;
+ _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]));
+
+ /* 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));
+
+ /* scaling of ADC ticks to battery voltage */
+ if (param_get(_parameter_handles.battery_voltage_scaling, &(_parameters.battery_voltage_scaling)) != OK) {
+ warnx("Failed updating voltage scaling param");
+ }
+
+ 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 {
+ /* set the accel internal sampling rate up to at leat 500Hz */
+ ioctl(fd, ACCELIOCSSAMPLERATE, 500);
+
+ /* set the driver to poll at 500Hz */
+ ioctl(fd, SENSORIOCSPOLLRATE, 500);
+
+ warnx("using system accel");
+ 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 {
+ /* set the gyro internal sampling rate up to at leat 500Hz */
+ ioctl(fd, GYROIOCSSAMPLERATE, 500);
+
+ /* set the driver to poll at 500Hz */
+ ioctl(fd, SENSORIOCSPOLLRATE, 500);
+
+ warnx("using system gyro");
+ close(fd);
+ }
+}
+
+void
+Sensors::mag_init()
+{
+ int fd;
+
+ fd = open(MAG_DEVICE_PATH, 0);
+
+ if (fd < 0) {
+ warn("%s", MAG_DEVICE_PATH);
+ errx(1, "FATAL: no magnetometer found");
+ }
+
+ /* set the mag internal poll rate to at least 150Hz */
+ ioctl(fd, MAGIOCSSAMPLERATE, 150);
+
+ /* set the driver to poll at 150Hz */
+ ioctl(fd, SENSORIOCSPOLLRATE, 150);
+
+ close(fd);
+}
+
+void
+Sensors::baro_init()
+{
+ int fd;
+
+ fd = open(BARO_DEVICE_PATH, 0);
+
+ if (fd < 0) {
+ warn("%s", BARO_DEVICE_PATH);
+ warnx("No barometer found, ignoring");
+ }
+
+ /* 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);
+
+ raw.accelerometer_m_s2[0] = accel_report.x;
+ raw.accelerometer_m_s2[1] = accel_report.y;
+ raw.accelerometer_m_s2[2] = accel_report.z;
+
+ 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_counter++;
+ }
+}
+
+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);
+
+ raw.gyro_rad_s[0] = gyro_report.x;
+ raw.gyro_rad_s[1] = gyro_report.y;
+ raw.gyro_rad_s[2] = gyro_report.z;
+
+ 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.gyro_counter++;
+ }
+}
+
+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);
+
+ raw.magnetometer_ga[0] = mag_report.x;
+ raw.magnetometer_ga[1] = mag_report.y;
+ raw.magnetometer_ga[2] = mag_report.z;
+
+ 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_counter++;
+ }
+}
+
+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_counter++;
+ }
+}
+
+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_counter++;
+
+ _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);
+
+ /* 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_status_poll()
+{
+ struct vehicle_status_s vstatus;
+ bool vstatus_updated;
+
+ /* Check HIL state if vehicle status has changed */
+ orb_check(_vstatus_sub, &vstatus_updated);
+
+ if (vstatus_updated) {
+
+ orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &vstatus);
+
+ /* 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 (vstatus.flag_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, &param_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],
+ 1.0f,
+ _parameters.gyro_offset[1],
+ 1.0f,
+ _parameters.gyro_offset[2],
+ 1.0f,
+ };
+
+ 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);
+
+#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)
+{
+
+ /* rate limit to 100 Hz */
+ if (hrt_absolute_time() - _last_adc >= 10000) {
+ /* make space for a maximum of eight channels */
+ struct adc_msg_s buf_adc[8];
+ /* read all channels available */
+ int ret = read(_fd_adc, &buf_adc, sizeof(buf_adc));
+
+ for (unsigned i = 0; i < sizeof(buf_adc) / sizeof(buf_adc[0]); i++) {
+
+ if (ret >= (int)sizeof(buf_adc[0])) {
+
+ /* 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);
+ }
+
+ /* 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 > VOLTAGE_BATTERY_IGNORE_THRESHOLD_VOLTS) {
+
+ /* one-time initialization of low-pass value to avoid long init delays */
+ if (_battery_status.voltage_v < 3.0f) {
+ _battery_status.voltage_v = voltage;
+ }
+
+ _battery_status.timestamp = hrt_absolute_time();
+ _battery_status.voltage_v = (BAT_VOL_LOWPASS_1 * (_battery_status.voltage_v + BAT_VOL_LOWPASS_2 * voltage));;
+ /* current and discharge are unknown */
+ _battery_status.current_a = -1.0f;
+ _battery_status.discharged_mah = -1.0f;
+
+ /* announce the battery voltage 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);
+ }
+ }
+
+ } 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
+ */
+ if (voltage > 0.4f) {
+
+ float diff_pres_pa = voltage * 1000.0f - _parameters.diff_pres_offset_pa; //for MPXV7002DP sensor
+
+ _diff_pres.timestamp = hrt_absolute_time();
+ _diff_pres.differential_pressure_pa = diff_pres_pa;
+ _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 = hrt_absolute_time();
+ }
+ }
+ }
+}
+
+#if CONFIG_HRT_PPM
+void
+Sensors::ppm_poll()
+{
+
+ /* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */
+ bool rc_updated;
+ orb_check(_rc_sub, &rc_updated);
+
+ if (rc_updated) {
+ struct rc_input_values rc_input;
+
+ orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
+
+ struct manual_control_setpoint_s manual_control;
+
+ /* 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.mission_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;
+
+ unsigned channel_limit = rc_input.channel_count;
+
+ if (channel_limit > _rc_max_chan_count)
+ channel_limit = _rc_max_chan_count;
+
+ /* we are accepting this message */
+ _ppm_last_valid = rc_input.timestamp;
+
+ /* Read out values from raw message */
+ 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.timestamp = rc_input.timestamp;
+
+ manual_control.timestamp = rc_input.timestamp;
+
+ /* 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;
+ }
+
+ /* mode switch input */
+ manual_control.mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MODE]].scaled);
+
+ /* land switch input */
+ manual_control.return_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RETURN]].scaled);
+
+ /* land switch input */
+ manual_control.mission_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MISSION]].scaled);
+
+ /* 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;
+ }
+ }
+
+ if (_rc.function[MODE] >= 0) {
+ manual_control.mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MODE]].scaled);
+ }
+
+ if (_rc.function[MISSION] >= 0) {
+ manual_control.mission_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MISSION]].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);
+ }
+
+ /* check if ready for publishing */
+ 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);
+
+ } else {
+ _manual_control_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual_control);
+ }
+ }
+
+}
+#endif
+
+void
+Sensors::task_main_trampoline(int argc, char *argv[])
+{
+ sensors::g_sensors->task_main();
+}
+
+void
+Sensors::task_main()
+{
+
+ /* inform about start */
+ printf("[sensors] Initializing..\n");
+ fflush(stdout);
+
+ /* 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));
+ _vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
+ _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(_vstatus_sub, 200);
+
+ /*
+ * 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 = BAT_VOL_INITIAL;
+
+ /* 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 500ms for data */
+ int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
+
+ /* timed out - periodic check for _task_should_exit, etc. */
+ if (pret == 0)
+ continue;
+
+ /* 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_status_poll();
+
+ /* 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();
+
+ /* 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);
+
+#ifdef CONFIG_HRT_PPM
+ /* Look for new r/c input data */
+ ppm_poll();
+#endif
+
+ perf_end(_loop_perf);
+ }
+
+ printf("[sensors] exiting.\n");
+
+ _sensors_task = -1;
+ _exit(0);
+}
+
+int
+Sensors::start()
+{
+ ASSERT(_sensors_task == -1);
+
+ /* start the task */
+ _sensors_task = task_spawn("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(1, "sensors task already running");
+
+ sensors::g_sensors = new Sensors;
+
+ if (sensors::g_sensors == nullptr)
+ errx(1, "sensors task alloc failed");
+
+ if (OK != sensors::g_sensors->start()) {
+ delete sensors::g_sensors;
+ sensors::g_sensors = nullptr;
+ err(1, "sensors task start failed");
+ }
+
+ exit(0);
+ }
+
+ if (!strcmp(argv[1], "stop")) {
+ if (sensors::g_sensors == nullptr)
+ errx(1, "sensors task not running");
+
+ delete sensors::g_sensors;
+ sensors::g_sensors = nullptr;
+ exit(0);
+ }
+
+ if (!strcmp(argv[1], "status")) {
+ if (sensors::g_sensors) {
+ errx(0, "task is running");
+
+ } else {
+ errx(1, "task is not running");
+ }
+ }
+
+ errx(1, "unrecognized command");
+}
+
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-04 15:50:37 +0000