VehicleAirData.hpp
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/****************************************************************************
*
* Copyright (c) 2020-2021 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 "data_validator/DataValidatorGroup.hpp"
#include <lib/mathlib/math/Limits.hpp>
#include <lib/matrix/matrix/math.hpp>
#include <lib/perf/perf_counter.h>
#include <lib/systemlib/mavlink_log.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/sensor_baro.h>
#include <uORB/topics/sensor_correction.h>
#include <uORB/topics/vehicle_air_data.h>
using namespace time_literals;
namespace sensors
{
class VehicleAirData : public ModuleParams, public px4::ScheduledWorkItem
{
public:
VehicleAirData();
~VehicleAirData() override;
bool Start();
void Stop();
void PrintStatus();
private:
void Run() override;
void ParametersUpdate();
void SensorCorrectionsUpdate(bool force = false);
void AirTemperatureUpdate();
static constexpr int MAX_SENSOR_COUNT = 4;
uORB::Publication<vehicle_air_data_s> _vehicle_air_data_pub{ORB_ID(vehicle_air_data)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _sensor_correction_sub{ORB_ID(sensor_correction)};
uORB::Subscription _differential_pressure_sub{ORB_ID(differential_pressure)};
uORB::SubscriptionCallbackWorkItem _sensor_sub[MAX_SENSOR_COUNT] {
{this, ORB_ID(sensor_baro), 0},
{this, ORB_ID(sensor_baro), 1},
{this, ORB_ID(sensor_baro), 2},
{this, ORB_ID(sensor_baro), 3},
};
perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
hrt_abstime _last_publication_timestamp{0};
hrt_abstime _last_error_message{0};
orb_advert_t _mavlink_log_pub{nullptr};
DataValidatorGroup _voter{1};
unsigned _last_failover_count{0};
uint64_t _baro_timestamp_sum{0};
float _baro_sum{0.f};
int _baro_sum_count{0};
sensor_baro_s _last_data[MAX_SENSOR_COUNT] {};
bool _advertised[MAX_SENSOR_COUNT] {};
float _thermal_offset[MAX_SENSOR_COUNT] {0.f, 0.f, 0.f};
uint8_t _priority[MAX_SENSOR_COUNT] {};
int8_t _selected_sensor_sub_index{-1};
float _air_temperature_celsius{20.f}; // initialize with typical 20degC ambient temperature
DEFINE_PARAMETERS(
(ParamFloat<px4::params::SENS_BARO_QNH>) _param_sens_baro_qnh,
(ParamFloat<px4::params::SENS_BARO_RATE>) _param_sens_baro_rate
)
};
}; // namespace sensors