diff options
Diffstat (limited to 'src/modules/uavcan/sensors')
-rw-r--r-- | src/modules/uavcan/sensors/baro.cpp | 6 | ||||
-rw-r--r-- | src/modules/uavcan/sensors/gnss.cpp | 2 | ||||
-rw-r--r-- | src/modules/uavcan/sensors/gnss.hpp | 2 | ||||
-rw-r--r-- | src/modules/uavcan/sensors/mag.cpp | 51 | ||||
-rw-r--r-- | src/modules/uavcan/sensors/mag.hpp | 2 |
5 files changed, 42 insertions, 21 deletions
diff --git a/src/modules/uavcan/sensors/baro.cpp b/src/modules/uavcan/sensors/baro.cpp index 80c5e3828..8741ae20d 100644 --- a/src/modules/uavcan/sensors/baro.cpp +++ b/src/modules/uavcan/sensors/baro.cpp @@ -91,11 +91,7 @@ void UavcanBarometerBridge::air_data_sub_cb(const uavcan::ReceivedDataStructure< { auto report = ::baro_report(); - report.timestamp = msg.getUtcTimestamp().toUSec(); - if (report.timestamp == 0) { - report.timestamp = msg.getMonotonicTimestamp().toUSec(); - } - + report.timestamp = msg.getMonotonicTimestamp().toUSec(); report.temperature = msg.static_temperature; report.pressure = msg.static_pressure / 100.0F; // Convert to millibar diff --git a/src/modules/uavcan/sensors/gnss.cpp b/src/modules/uavcan/sensors/gnss.cpp index 24afe6aaf..a375db37f 100644 --- a/src/modules/uavcan/sensors/gnss.cpp +++ b/src/modules/uavcan/sensors/gnss.cpp @@ -92,7 +92,7 @@ void UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavca auto report = ::vehicle_gps_position_s(); - report.timestamp_position = hrt_absolute_time(); + report.timestamp_position = msg.getMonotonicTimestamp().toUSec(); report.lat = msg.latitude_deg_1e8 / 10; report.lon = msg.longitude_deg_1e8 / 10; report.alt = msg.height_msl_mm; diff --git a/src/modules/uavcan/sensors/gnss.hpp b/src/modules/uavcan/sensors/gnss.hpp index e8466b401..2111ff80b 100644 --- a/src/modules/uavcan/sensors/gnss.hpp +++ b/src/modules/uavcan/sensors/gnss.hpp @@ -43,8 +43,6 @@ #pragma once -#include <drivers/drv_hrt.h> - #include <uORB/uORB.h> #include <uORB/topics/vehicle_gps_position.h> diff --git a/src/modules/uavcan/sensors/mag.cpp b/src/modules/uavcan/sensors/mag.cpp index 0d9ea08c5..35ebee542 100644 --- a/src/modules/uavcan/sensors/mag.cpp +++ b/src/modules/uavcan/sensors/mag.cpp @@ -37,6 +37,8 @@ #include "mag.hpp" +#include <systemlib/err.h> + static const orb_id_t MAG_TOPICS[3] = { ORB_ID(sensor_mag0), ORB_ID(sensor_mag1), @@ -71,9 +73,36 @@ int UavcanMagnetometerBridge::init() return 0; } +ssize_t UavcanMagnetometerBridge::read(struct file *filp, char *buffer, size_t buflen) +{ + static uint64_t last_read = 0; + struct mag_report *mag_buf = reinterpret_cast<struct mag_report *>(buffer); + + /* buffer must be large enough */ + unsigned count = buflen / sizeof(struct mag_report); + if (count < 1) { + return -ENOSPC; + } + + if (last_read < _report.timestamp) { + /* copy report */ + lock(); + *mag_buf = _report; + last_read = _report.timestamp; + unlock(); + return sizeof(struct mag_report); + } else { + /* no new data available, warn caller */ + return -EAGAIN; + } +} + int UavcanMagnetometerBridge::ioctl(struct file *filp, int cmd, unsigned long arg) { switch (cmd) { + case SENSORIOCSQUEUEDEPTH: { + return OK; // Pretend that this stuff is supported to keep APM happy + } case MAGIOCSSCALE: { std::memcpy(&_scale, reinterpret_cast<const void*>(arg), sizeof(_scale)); return 0; @@ -86,7 +115,7 @@ int UavcanMagnetometerBridge::ioctl(struct file *filp, int cmd, unsigned long ar return 0; // Nothing to do } case MAGIOCGEXTERNAL: { - return 0; // We don't want anyone to transform the coordinate frame, so we declare it onboard + return 1; // declare it external rise it's priority and to allow for correct orientation compensation } case MAGIOCSSAMPLERATE: { return 0; // Pretend that this stuff is supported to keep the sensor app happy @@ -108,18 +137,14 @@ int UavcanMagnetometerBridge::ioctl(struct file *filp, int cmd, unsigned long ar void UavcanMagnetometerBridge::mag_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::Magnetometer> &msg) { - auto report = ::mag_report(); - - report.range_ga = 1.3F; // Arbitrary number, doesn't really mean anything - - report.timestamp = msg.getUtcTimestamp().toUSec(); - if (report.timestamp == 0) { - report.timestamp = msg.getMonotonicTimestamp().toUSec(); - } + lock(); + _report.range_ga = 1.3F; // Arbitrary number, doesn't really mean anything + _report.timestamp = msg.getMonotonicTimestamp().toUSec(); - report.x = (msg.magnetic_field[0] - _scale.x_offset) * _scale.x_scale; - report.y = (msg.magnetic_field[1] - _scale.y_offset) * _scale.y_scale; - report.z = (msg.magnetic_field[2] - _scale.z_offset) * _scale.z_scale; + _report.x = (msg.magnetic_field[0] - _scale.x_offset) * _scale.x_scale; + _report.y = (msg.magnetic_field[1] - _scale.y_offset) * _scale.y_scale; + _report.z = (msg.magnetic_field[2] - _scale.z_offset) * _scale.z_scale; + unlock(); - publish(msg.getSrcNodeID().get(), &report); + publish(msg.getSrcNodeID().get(), &_report); } diff --git a/src/modules/uavcan/sensors/mag.hpp b/src/modules/uavcan/sensors/mag.hpp index 6d413a8f7..74077d883 100644 --- a/src/modules/uavcan/sensors/mag.hpp +++ b/src/modules/uavcan/sensors/mag.hpp @@ -54,6 +54,7 @@ public: int init() override; private: + ssize_t read(struct file *filp, char *buffer, size_t buflen); int ioctl(struct file *filp, int cmd, unsigned long arg) override; void mag_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::Magnetometer> &msg); @@ -65,4 +66,5 @@ private: uavcan::Subscriber<uavcan::equipment::ahrs::Magnetometer, MagCbBinder> _sub_mag; mag_scale _scale = {}; + mag_report _report = {}; }; |