VehicleIMU.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 "Integrator.hpp"
#include <lib/mathlib/math/Limits.hpp>
#include <lib/mathlib/math/WelfordMean.hpp>
#include <lib/matrix/matrix/math.hpp>
#include <lib/perf/perf_counter.h>
#include <lib/sensor_calibration/Accelerometer.hpp>
#include <lib/sensor_calibration/Gyroscope.hpp>
#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/PublicationMulti.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/sensor_accel.h>
#include <uORB/topics/sensor_gyro.h>
#include <uORB/topics/vehicle_imu.h>
#include <uORB/topics/vehicle_imu_status.h>
using namespace time_literals;
namespace sensors
{
class VehicleIMU : public ModuleParams, public px4::ScheduledWorkItem
{
public:
VehicleIMU() = delete;
VehicleIMU(int instance, uint8_t accel_index, uint8_t gyro_index, const px4::wq_config_t &config);
~VehicleIMU() override;
bool Start();
void Stop();
void PrintStatus();
private:
void ParametersUpdate(bool force = false);
bool Publish();
void Run() override;
bool UpdateAccel();
bool UpdateGyro();
void UpdateIntegratorConfiguration();
void UpdateAccelVibrationMetrics(const matrix::Vector3f &delta_velocity);
void UpdateGyroVibrationMetrics(const matrix::Vector3f &delta_angle);
uORB::PublicationMulti<vehicle_imu_s> _vehicle_imu_pub{ORB_ID(vehicle_imu)};
uORB::PublicationMulti<vehicle_imu_status_s> _vehicle_imu_status_pub{ORB_ID(vehicle_imu_status)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _sensor_accel_sub;
uORB::SubscriptionCallbackWorkItem _sensor_gyro_sub;
calibration::Accelerometer _accel_calibration{};
calibration::Gyroscope _gyro_calibration{};
Integrator _accel_integrator{};
IntegratorConing _gyro_integrator{};
uint32_t _imu_integration_interval_us{5000};
hrt_abstime _accel_timestamp_sample_last{0};
hrt_abstime _gyro_timestamp_sample_last{0};
hrt_abstime _gyro_timestamp_last{0};
math::WelfordMean<matrix::Vector2f> _accel_interval_mean{};
math::WelfordMean<matrix::Vector2f> _gyro_interval_mean{};
math::WelfordMean<matrix::Vector2f> _gyro_update_latency_mean{};
float _accel_interval_best_variance{INFINITY};
float _gyro_interval_best_variance{INFINITY};
float _accel_interval_us{NAN};
float _gyro_interval_us{NAN};
unsigned _accel_last_generation{0};
unsigned _gyro_last_generation{0};
matrix::Vector3f _accel_sum{};
matrix::Vector3f _gyro_sum{};
int _accel_sum_count{0};
int _gyro_sum_count{0};
float _accel_temperature{0};
float _gyro_temperature{0};
matrix::Vector3f _delta_angle_prev{0.f, 0.f, 0.f}; // delta angle from the previous IMU measurement
matrix::Vector3f _delta_velocity_prev{0.f, 0.f, 0.f}; // delta velocity from the previous IMU measurement
vehicle_imu_status_s _status{};
uint8_t _delta_velocity_clipping{0};
hrt_abstime _last_clipping_notify_time{0};
uint64_t _last_clipping_notify_total_count{0};
orb_advert_t _mavlink_log_pub{nullptr};
uint32_t _backup_schedule_timeout_us{20000};
bool _data_gap{false};
bool _update_integrator_config{true};
bool _intervals_configured{false};
bool _publish_status{false};
const uint8_t _instance;
perf_counter_t _accel_generation_gap_perf{perf_alloc(PC_COUNT, MODULE_NAME": accel data gap")};
perf_counter_t _gyro_generation_gap_perf{perf_alloc(PC_COUNT, MODULE_NAME": gyro data gap")};
DEFINE_PARAMETERS(
(ParamInt<px4::params::IMU_INTEG_RATE>) _param_imu_integ_rate,
(ParamInt<px4::params::IMU_GYRO_RATEMAX>) _param_imu_gyro_ratemax
)
};
} // namespace sensors