VehicleGPSPosition.hpp
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/****************************************************************************
*
* Copyright (c) 2020 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 <lib/mathlib/math/Limits.hpp>
#include <lib/matrix/matrix/math.hpp>
#include <lib/perf/perf_counter.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/parameter_update.h>
#include <uORB/topics/sensor_gps.h>
#include <uORB/topics/vehicle_gps_position.h>
#include "gps_blending.hpp"
using namespace time_literals;
namespace sensors
{
class VehicleGPSPosition : public ModuleParams, public px4::ScheduledWorkItem
{
public:
VehicleGPSPosition();
~VehicleGPSPosition() override;
bool Start();
void Stop();
void PrintStatus();
private:
void Run() override;
void ParametersUpdate(bool force = false);
void Publish(const sensor_gps_s &gps, uint8_t selected);
// defines used to specify the mask position for use of different accuracy metrics in the GPS blending algorithm
static constexpr uint8_t BLEND_MASK_USE_SPD_ACC = 1;
static constexpr uint8_t BLEND_MASK_USE_HPOS_ACC = 2;
static constexpr uint8_t BLEND_MASK_USE_VPOS_ACC = 4;
// define max number of GPS receivers supported
static constexpr int GPS_MAX_RECEIVERS = 2;
static_assert(GPS_MAX_RECEIVERS == GpsBlending::GPS_MAX_RECEIVERS_BLEND,
"GPS_MAX_RECEIVERS must match to GPS_MAX_RECEIVERS_BLEND");
uORB::Publication<vehicle_gps_position_s> _vehicle_gps_position_pub{ORB_ID(vehicle_gps_position)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::SubscriptionCallbackWorkItem _sensor_gps_sub[GPS_MAX_RECEIVERS] { /**< sensor data subscription */
{this, ORB_ID(sensor_gps), 0},
{this, ORB_ID(sensor_gps), 1},
};
perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
GpsBlending _gps_blending;
DEFINE_PARAMETERS(
(ParamInt<px4::params::SENS_GPS_MASK>) _param_sens_gps_mask,
(ParamFloat<px4::params::SENS_GPS_TAU>) _param_sens_gps_tau,
(ParamInt<px4::params::SENS_GPS_PRIME>) _param_sens_gps_prime
)
};
}; // namespace sensors