GyroCalibration.hpp
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/****************************************************************************
*
* Copyright (c) 2021 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.
*
****************************************************************************/
#pragma once
#include <px4_platform_common/defines.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/posix.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <drivers/drv_hrt.h>
#include <lib/mathlib/math/WelfordMean.hpp>
#include <lib/perf/perf_counter.h>
#include <lib/sensor_calibration/Gyroscope.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionInterval.hpp>
#include <uORB/SubscriptionMultiArray.hpp>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/sensor_accel.h>
#include <uORB/topics/sensor_gyro.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_status_flags.h>
using namespace time_literals;
class GyroCalibration : public ModuleBase<GyroCalibration>, public ModuleParams, public px4::ScheduledWorkItem
{
public:
GyroCalibration();
~GyroCalibration() override;
/** @see ModuleBase */
static int task_spawn(int argc, char *argv[]);
/** @see ModuleBase */
static int custom_command(int argc, char *argv[]);
/** @see ModuleBase */
static int print_usage(const char *reason = nullptr);
bool init();
int print_status() override;
private:
static constexpr hrt_abstime INTERVAL_US = 20000_us;
static constexpr int MAX_SENSORS = 4;
void Run() override;
void Reset()
{
for (auto &m : _gyro_mean) {
m.reset();
}
}
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _vehicle_status_sub{ORB_ID::vehicle_status};
uORB::Subscription _vehicle_status_flags_sub{ORB_ID::vehicle_status_flags};
uORB::SubscriptionMultiArray<sensor_accel_s, MAX_SENSORS> _sensor_accel_subs{ORB_ID::sensor_accel};
uORB::SubscriptionMultiArray<sensor_gyro_s, MAX_SENSORS> _sensor_gyro_subs{ORB_ID::sensor_gyro};
calibration::Gyroscope _gyro_calibration[MAX_SENSORS] {};
math::WelfordMean<matrix::Vector3f> _gyro_mean[MAX_SENSORS] {};
float _temperature[MAX_SENSORS] {};
matrix::Vector3f _acceleration[MAX_SENSORS] {};
hrt_abstime _last_calibration_update{0};
bool _armed{false};
bool _system_calibrating{false};
perf_counter_t _loop_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": interval")};
perf_counter_t _calibration_updated_perf{perf_alloc(PC_COUNT, MODULE_NAME": calibration updated")};
};