diff options
Diffstat (limited to 'src/modules/sensors/sensors.cpp')
-rw-r--r-- | src/modules/sensors/sensors.cpp | 108 |
1 files changed, 68 insertions, 40 deletions
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 9baf1a6af..ea864390d 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -114,6 +114,7 @@ #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 @@ -124,10 +125,8 @@ #define ADC_AIRSPEED_VOLTAGE_CHANNEL 15 #endif -#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 +#define BATT_V_LOWPASS 0.001f +#define BATT_V_IGNORE_THRESHOLD 3.5f /** * HACK - true temperature is much less than indicated temperature in baro, @@ -211,10 +210,13 @@ private: struct differential_pressure_s _diff_pres; struct airspeed_s _airspeed; - math::Matrix _board_rotation; /**< rotation matrix for the orientation that the board is mounted */ - math::Matrix _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 */ + hrt_abstime _battery_current_timestamp; /**< timestamp of last battery current reading */ + struct { float min[_rc_max_chan_count]; float trim[_rc_max_chan_count]; @@ -265,6 +267,7 @@ private: float rc_fs_thr; float battery_voltage_scaling; + float battery_current_scaling; } _parameters; /**< local copies of interesting parameters */ @@ -314,6 +317,7 @@ private: param_t rc_fs_thr; param_t battery_voltage_scaling; + param_t battery_current_scaling; param_t board_rotation; param_t external_mag_rotation; @@ -465,9 +469,9 @@ Sensors::Sensors() : /* performance counters */ _loop_perf(perf_alloc(PC_ELAPSED, "sensor task update")), - _board_rotation(3, 3), - _external_mag_rotation(3, 3), - _mag_is_external(false) + _mag_is_external(false), + _battery_discharged(0), + _battery_current_timestamp(0) { /* basic r/c parameters */ @@ -560,6 +564,7 @@ Sensors::Sensors() : _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"); @@ -740,6 +745,11 @@ Sensors::parameters_update() warnx("Failed updating voltage scaling param"); } + /* scaling of ADC ticks to battery current */ + if (param_get(_parameter_handles.battery_current_scaling, &(_parameters.battery_current_scaling)) != OK) { + warnx("Failed updating current scaling param"); + } + param_get(_parameter_handles.board_rotation, &(_parameters.board_rotation)); param_get(_parameter_handles.external_mag_rotation, &(_parameters.external_mag_rotation)); @@ -785,7 +795,6 @@ Sensors::accel_init() #endif - warnx("using system accel"); close(fd); } } @@ -825,7 +834,6 @@ Sensors::gyro_init() #endif - warnx("using system gyro"); close(fd); } } @@ -920,7 +928,7 @@ Sensors::accel_poll(struct sensor_combined_s &raw) orb_copy(ORB_ID(sensor_accel), _accel_sub, &accel_report); - math::Vector3 vect = {accel_report.x, accel_report.y, accel_report.z}; + math::Vector<3> vect(accel_report.x, accel_report.y, accel_report.z); vect = _board_rotation * vect; raw.accelerometer_m_s2[0] = vect(0); @@ -946,7 +954,7 @@ Sensors::gyro_poll(struct sensor_combined_s &raw) orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &gyro_report); - math::Vector3 vect = {gyro_report.x, gyro_report.y, gyro_report.z}; + math::Vector<3> vect(gyro_report.x, gyro_report.y, gyro_report.z); vect = _board_rotation * vect; raw.gyro_rad_s[0] = vect(0); @@ -972,7 +980,7 @@ Sensors::mag_poll(struct sensor_combined_s &raw) orb_copy(ORB_ID(sensor_mag), _mag_sub, &mag_report); - math::Vector3 vect = {mag_report.x, mag_report.y, mag_report.z}; + math::Vector<3> vect(mag_report.x, mag_report.y, mag_report.z); if (_mag_is_external) vect = _external_mag_rotation * vect; @@ -1157,17 +1165,16 @@ Sensors::adc_poll(struct sensor_combined_s &raw) if (!_publishing) return; + hrt_abstime t = hrt_absolute_time(); /* rate limit to 100 Hz */ - if (hrt_absolute_time() - _last_adc >= 10000) { + if (t - _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])) { - + if (ret >= (int)sizeof(buf_adc[0])) { + for (unsigned i = 0; i < sizeof(buf_adc) / 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); @@ -1178,27 +1185,40 @@ Sensors::adc_poll(struct sensor_combined_s &raw) /* Voltage in volts */ float voltage = (buf_adc[i].am_data * _parameters.battery_voltage_scaling); - if (voltage > VOLTAGE_BATTERY_IGNORE_THRESHOLD_VOLTS) { - + 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_v < 3.0f) { - _battery_status.voltage_v = voltage; + if (_battery_status.voltage_filtered_v < BATT_V_IGNORE_THRESHOLD) { + _battery_status.voltage_filtered_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; + _battery_status.timestamp = t; + _battery_status.voltage_filtered_v += (voltage - _battery_status.voltage_filtered_v) * BATT_V_LOWPASS; - /* announce the battery voltage if needed, just publish else */ - if (_battery_pub > 0) { - orb_publish(ORB_ID(battery_status), _battery_pub, &_battery_status); + } else { + /* mark status as invalid */ + _battery_status.voltage_v = -1.0f; + _battery_status.voltage_filtered_v = -1.0f; + } - } else { - _battery_pub = orb_advertise(ORB_ID(battery_status), &_battery_status); + } 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) { @@ -1214,7 +1234,7 @@ Sensors::adc_poll(struct sensor_combined_s &raw) float diff_pres_pa = voltage * 1000.0f - _parameters.diff_pres_offset_pa; //for MPXV7002DP sensor - _diff_pres.timestamp = hrt_absolute_time(); + _diff_pres.timestamp = t; _diff_pres.differential_pressure_pa = diff_pres_pa; _diff_pres.voltage = voltage; @@ -1227,8 +1247,16 @@ Sensors::adc_poll(struct sensor_combined_s &raw) } } } - - _last_adc = hrt_absolute_time(); + } + _last_adc = t; + if (_battery_status.voltage_v > 0.0f) { + /* 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); + } } } } @@ -1475,9 +1503,6 @@ void Sensors::task_main() { - /* inform about start */ - warnx("Initializing.."); - /* start individual sensors */ accel_init(); gyro_init(); @@ -1516,7 +1541,10 @@ Sensors::task_main() raw.adc_voltage_v[3] = 0.0f; memset(&_battery_status, 0, sizeof(_battery_status)); - _battery_status.voltage_v = BAT_VOL_INITIAL; + _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); |