From c89f46f59055f4cc0d7ada4a26e48f021278538e Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 27 Apr 2013 13:16:24 +0200 Subject: Moved sensors app to new world --- src/modules/sensors/.context | 0 src/modules/sensors/module.mk | 42 + src/modules/sensors/sensor_params.c | 181 +++++ src/modules/sensors/sensors.cpp | 1470 +++++++++++++++++++++++++++++++++++ 4 files changed, 1693 insertions(+) create mode 100644 src/modules/sensors/.context create mode 100644 src/modules/sensors/module.mk create mode 100644 src/modules/sensors/sensor_params.c create mode 100644 src/modules/sensors/sensors.cpp (limited to 'src') diff --git a/src/modules/sensors/.context b/src/modules/sensors/.context new file mode 100644 index 000000000..e69de29bb diff --git a/src/modules/sensors/module.mk b/src/modules/sensors/module.mk new file mode 100644 index 000000000..ebbc580e1 --- /dev/null +++ b/src/modules/sensors/module.mk @@ -0,0 +1,42 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# 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. +# +############################################################################ + +# +# Makefile to build the sensor data collector +# + +MODULE_COMMAND = sensors +MODULE_PRIORITY = "SCHED_PRIORITY_MAX-5" + +SRCS = sensors.cpp \ + sensor_params.c diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c new file mode 100644 index 000000000..c850e3a1e --- /dev/null +++ b/src/modules/sensors/sensor_params.c @@ -0,0 +1,181 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Lorenz Meier + * @author Thomas Gubler + * @author Julian Oes + * + * 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 sensor_params.c + * + * Parameters defined by the sensors task. + */ + +#include + +#include + +PARAM_DEFINE_FLOAT(SENS_GYRO_XOFF, 0.0f); +PARAM_DEFINE_FLOAT(SENS_GYRO_YOFF, 0.0f); +PARAM_DEFINE_FLOAT(SENS_GYRO_ZOFF, 0.0f); + +PARAM_DEFINE_FLOAT(SENS_MAG_XOFF, 0.0f); +PARAM_DEFINE_FLOAT(SENS_MAG_YOFF, 0.0f); +PARAM_DEFINE_FLOAT(SENS_MAG_ZOFF, 0.0f); + +PARAM_DEFINE_FLOAT(SENS_MAG_XSCALE, 1.0f); +PARAM_DEFINE_FLOAT(SENS_MAG_YSCALE, 1.0f); +PARAM_DEFINE_FLOAT(SENS_MAG_ZSCALE, 1.0f); + +PARAM_DEFINE_FLOAT(SENS_ACC_XOFF, 0.0f); +PARAM_DEFINE_FLOAT(SENS_ACC_YOFF, 0.0f); +PARAM_DEFINE_FLOAT(SENS_ACC_ZOFF, 0.0f); + +PARAM_DEFINE_FLOAT(SENS_ACC_XSCALE, 1.0f); +PARAM_DEFINE_FLOAT(SENS_ACC_YSCALE, 1.0f); +PARAM_DEFINE_FLOAT(SENS_ACC_ZSCALE, 1.0f); + +PARAM_DEFINE_FLOAT(SENS_VAIR_OFF, 2.5f); + +PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f); +PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f); +PARAM_DEFINE_FLOAT(RC1_MAX, 2000.0f); +PARAM_DEFINE_FLOAT(RC1_REV, 1.0f); +PARAM_DEFINE_FLOAT(RC1_DZ, 0.0f); + +PARAM_DEFINE_FLOAT(RC2_MIN, 1000); +PARAM_DEFINE_FLOAT(RC2_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC2_MAX, 2000); +PARAM_DEFINE_FLOAT(RC2_REV, 1.0f); +PARAM_DEFINE_FLOAT(RC2_DZ, 0.0f); + +PARAM_DEFINE_FLOAT(RC3_MIN, 1000); +PARAM_DEFINE_FLOAT(RC3_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC3_MAX, 2000); +PARAM_DEFINE_FLOAT(RC3_REV, 1.0f); +PARAM_DEFINE_FLOAT(RC3_DZ, 0.0f); + +PARAM_DEFINE_FLOAT(RC4_MIN, 1000); +PARAM_DEFINE_FLOAT(RC4_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC4_MAX, 2000); +PARAM_DEFINE_FLOAT(RC4_REV, 1.0f); +PARAM_DEFINE_FLOAT(RC4_DZ, 30.0f); + +PARAM_DEFINE_FLOAT(RC5_MIN, 1000); +PARAM_DEFINE_FLOAT(RC5_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC5_MAX, 2000); +PARAM_DEFINE_FLOAT(RC5_REV, 1.0f); +PARAM_DEFINE_FLOAT(RC5_DZ, 0.0f); + +PARAM_DEFINE_FLOAT(RC6_MIN, 1000); +PARAM_DEFINE_FLOAT(RC6_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC6_MAX, 2000); +PARAM_DEFINE_FLOAT(RC6_REV, 1.0f); +PARAM_DEFINE_FLOAT(RC6_DZ, 0.0f); + +PARAM_DEFINE_FLOAT(RC7_MIN, 1000); +PARAM_DEFINE_FLOAT(RC7_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC7_MAX, 2000); +PARAM_DEFINE_FLOAT(RC7_REV, 1.0f); +PARAM_DEFINE_FLOAT(RC7_DZ, 0.0f); + +PARAM_DEFINE_FLOAT(RC8_MIN, 1000); +PARAM_DEFINE_FLOAT(RC8_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC8_MAX, 2000); +PARAM_DEFINE_FLOAT(RC8_REV, 1.0f); +PARAM_DEFINE_FLOAT(RC8_DZ, 0.0f); + +PARAM_DEFINE_FLOAT(RC9_MIN, 1000); +PARAM_DEFINE_FLOAT(RC9_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC9_MAX, 2000); +PARAM_DEFINE_FLOAT(RC9_REV, 1.0f); +PARAM_DEFINE_FLOAT(RC9_DZ, 0.0f); + +PARAM_DEFINE_FLOAT(RC10_MIN, 1000); +PARAM_DEFINE_FLOAT(RC10_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC10_MAX, 2000); +PARAM_DEFINE_FLOAT(RC10_REV, 1.0f); +PARAM_DEFINE_FLOAT(RC10_DZ, 0.0f); + +PARAM_DEFINE_FLOAT(RC11_MIN, 1000); +PARAM_DEFINE_FLOAT(RC11_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC11_MAX, 2000); +PARAM_DEFINE_FLOAT(RC11_REV, 1.0f); +PARAM_DEFINE_FLOAT(RC11_DZ, 0.0f); + +PARAM_DEFINE_FLOAT(RC12_MIN, 1000); +PARAM_DEFINE_FLOAT(RC12_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC12_MAX, 2000); +PARAM_DEFINE_FLOAT(RC12_REV, 1.0f); +PARAM_DEFINE_FLOAT(RC12_DZ, 0.0f); + +PARAM_DEFINE_FLOAT(RC13_MIN, 1000); +PARAM_DEFINE_FLOAT(RC13_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC13_MAX, 2000); +PARAM_DEFINE_FLOAT(RC13_REV, 1.0f); +PARAM_DEFINE_FLOAT(RC13_DZ, 0.0f); + +PARAM_DEFINE_FLOAT(RC14_MIN, 1000); +PARAM_DEFINE_FLOAT(RC14_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC14_MAX, 2000); +PARAM_DEFINE_FLOAT(RC14_REV, 1.0f); +PARAM_DEFINE_FLOAT(RC14_DZ, 0.0f); + +PARAM_DEFINE_INT32(RC_TYPE, 1); /** 1 = FUTABA, 2 = Spektrum, 3 = Graupner HoTT, 4 = Turnigy 9x */ + +/* default is conversion factor for the PX4IO / PX4IOAR board, the factor for PX4FMU standalone is different */ +PARAM_DEFINE_FLOAT(BAT_V_SCALING, (3.3f * 52.0f / 5.0f / 4095.0f)); + +PARAM_DEFINE_INT32(RC_MAP_ROLL, 1); +PARAM_DEFINE_INT32(RC_MAP_PITCH, 2); +PARAM_DEFINE_INT32(RC_MAP_THROTTLE, 3); +PARAM_DEFINE_INT32(RC_MAP_YAW, 4); + +PARAM_DEFINE_INT32(RC_MAP_OVER_SW, 5); +PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 6); + +PARAM_DEFINE_INT32(RC_MAP_MAN_SW, 0); +PARAM_DEFINE_INT32(RC_MAP_SAS_SW, 0); +PARAM_DEFINE_INT32(RC_MAP_RTL_SW, 0); +PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0); + +PARAM_DEFINE_INT32(RC_MAP_FLAPS, 0); + +PARAM_DEFINE_INT32(RC_MAP_AUX1, 0); /**< default function: camera yaw / azimuth */ +PARAM_DEFINE_INT32(RC_MAP_AUX2, 0); /**< default function: camera pitch / tilt */ +PARAM_DEFINE_INT32(RC_MAP_AUX3, 0); /**< default function: camera trigger */ +PARAM_DEFINE_INT32(RC_MAP_AUX4, 0); /**< default function: camera roll */ +PARAM_DEFINE_INT32(RC_MAP_AUX5, 0); /**< default function: payload drop */ + +PARAM_DEFINE_FLOAT(RC_SCALE_ROLL, 0.4f); +PARAM_DEFINE_FLOAT(RC_SCALE_PITCH, 0.4f); +PARAM_DEFINE_FLOAT(RC_SCALE_YAW, 1.0f); diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp new file mode 100644 index 000000000..123bbb120 --- /dev/null +++ b/src/modules/sensors/sensors.cpp @@ -0,0 +1,1470 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier + * + * 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 + */ + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +#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 + +#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 _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 */ + + 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 _differential_pressure; + + 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]; + float airspeed_offset; + + int rc_type; + + int rc_map_roll; + int rc_map_pitch; + int rc_map_yaw; + int rc_map_throttle; + + int rc_map_manual_override_sw; + int rc_map_auto_mode_sw; + + int rc_map_manual_mode_sw; + int rc_map_sas_mode_sw; + int rc_map_rtl_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 airspeed_offset; + + param_t rc_map_roll; + param_t rc_map_pitch; + param_t rc_map_yaw; + param_t rc_map_throttle; + + param_t rc_map_manual_override_sw; + param_t rc_map_auto_mode_sw; + + param_t rc_map_manual_mode_sw; + param_t rc_map_sas_mode_sw; + param_t rc_map_rtl_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); + + /** + * 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), + +/* 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_manual_override_sw = param_find("RC_MAP_OVER_SW"); + _parameter_handles.rc_map_auto_mode_sw = param_find("RC_MAP_MODE_SW"); + + _parameter_handles.rc_map_flaps = param_find("RC_MAP_FLAPS"); + + /* optional mode switches, not mapped per default */ + _parameter_handles.rc_map_manual_mode_sw = param_find("RC_MAP_MAN_SW"); + _parameter_handles.rc_map_sas_mode_sw = param_find("RC_MAP_SAS_SW"); + _parameter_handles.rc_map_rtl_sw = param_find("RC_MAP_RTL_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"); + + /*Airspeed offset */ + _parameter_handles.airspeed_offset = param_find("SENS_VAIR_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_manual_override_sw, &(_parameters.rc_map_manual_override_sw)) != OK) { + warnx("Failed getting override sw chan index"); + } + + if (param_get(_parameter_handles.rc_map_auto_mode_sw, &(_parameters.rc_map_auto_mode_sw)) != OK) { + warnx("Failed getting auto mode 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_manual_mode_sw, &(_parameters.rc_map_manual_mode_sw)) != OK) { + warnx("Failed getting manual mode sw chan index"); + } + + if (param_get(_parameter_handles.rc_map_rtl_sw, &(_parameters.rc_map_rtl_sw)) != OK) { + warnx("Failed getting rtl sw chan index"); + } + + if (param_get(_parameter_handles.rc_map_sas_mode_sw, &(_parameters.rc_map_sas_mode_sw)) != OK) { + warnx("Failed getting sas mode sw 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[OVERRIDE] = _parameters.rc_map_manual_override_sw - 1; + _rc.function[AUTO_MODE] = _parameters.rc_map_auto_mode_sw - 1; + + _rc.function[FLAPS] = _parameters.rc_map_flaps - 1; + + _rc.function[MANUAL_MODE] = _parameters.rc_map_manual_mode_sw - 1; + _rc.function[RTL] = _parameters.rc_map_rtl_sw - 1; + _rc.function[SAS_MODE] = _parameters.rc_map_sas_mode_sw - 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.airspeed_offset, &(_parameters.airspeed_offset)); + + /* 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::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, ¶m_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 - _parameters.airspeed_offset) * 1000.0f; //for MPXV7002DP sensor + + float airspeed_true = calc_true_airspeed(diff_pres_pa + _barometer.pressure*1e2f, + _barometer.pressure*1e2f, _barometer.temperature - 5.0f); //factor 1e2 for conversion from mBar to Pa + // XXX 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 + + float airspeed_indicated = calc_indicated_airspeed(diff_pres_pa); + + //printf("voltage: %.4f, diff_pres_pa %.4f, baro press %.4f Pa, v_ind %.4f, v_true %.4f\n", (double)voltage, (double)diff_pres_pa, (double)_barometer.pressure*1e2f, (double)airspeed_indicated, (double)airspeed_true); + + _differential_pressure.timestamp = hrt_absolute_time(); + _differential_pressure.static_pressure_mbar = _barometer.pressure; + _differential_pressure.differential_pressure_mbar = diff_pres_pa*1e-2f; + _differential_pressure.temperature_celcius = _barometer.temperature; + _differential_pressure.indicated_airspeed_m_s = airspeed_indicated; + _differential_pressure.true_airspeed_m_s = airspeed_true; + _differential_pressure.voltage = voltage; + + /* announce the airspeed if needed, just publish else */ + if (_airspeed_pub > 0) { + orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &_differential_pressure); + + } else { + _airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &_differential_pressure); + } + } + } + + _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.manual_mode_switch = NAN; + manual_control.manual_sas_switch = NAN; + manual_control.return_to_launch_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; + } + + /* override switch input */ + manual_control.manual_override_switch = limit_minus_one_to_one(_rc.chan[_rc.function[OVERRIDE]].scaled); + + /* mode switch input */ + manual_control.auto_mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[AUTO_MODE]].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[MANUAL_MODE] >= 0) { + manual_control.manual_mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MANUAL_MODE]].scaled); + } + + if (_rc.function[SAS_MODE] >= 0) { + manual_control.manual_sas_switch = limit_minus_one_to_one(_rc.chan[_rc.function[SAS_MODE]].scaled); + } + + if (_rc.function[RTL] >= 0) { + manual_control.return_to_launch_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RTL]].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)); + _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); + + 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); + + /* 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"); +} + -- cgit v1.2.3