SCALED_IMU.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.
*
****************************************************************************/
#ifndef SCALED_IMU_HPP
#define SCALED_IMU_HPP
#include <lib/ecl/geo/geo.h>
#include <lib/matrix/matrix/math.hpp>
#include <uORB/topics/sensor_mag.h>
#include <uORB/topics/vehicle_imu.h>
class MavlinkStreamScaledIMU : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamScaledIMU(mavlink); }
static constexpr const char *get_name_static() { return "SCALED_IMU"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_SCALED_IMU; }
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
if (_vehicle_imu_sub.advertised() || _sensor_mag_sub.advertised()) {
return MAVLINK_MSG_ID_SCALED_IMU_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
}
return 0;
}
private:
explicit MavlinkStreamScaledIMU(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _vehicle_imu_sub{ORB_ID(vehicle_imu), 0};
uORB::Subscription _sensor_mag_sub{ORB_ID(sensor_mag), 0};
bool send() override
{
if (_vehicle_imu_sub.updated() || _sensor_mag_sub.updated()) {
mavlink_scaled_imu_t msg{};
vehicle_imu_s imu;
if (_vehicle_imu_sub.copy(&imu)) {
msg.time_boot_ms = imu.timestamp / 1000;
// Accelerometer in mG
const float accel_dt_inv = 1.e6f / (float)imu.delta_velocity_dt;
const Vector3f accel = Vector3f{imu.delta_velocity} * accel_dt_inv * 1000.0f / CONSTANTS_ONE_G;
msg.xacc = (int16_t)accel(0);
msg.yacc = (int16_t)accel(1);
msg.zacc = (int16_t)accel(2);
// Gyroscope in mrad/s
const float gyro_dt_inv = 1.e6f / (float)imu.delta_velocity_dt;
const Vector3f gyro = Vector3f{imu.delta_angle} * gyro_dt_inv * 1000.0f;
msg.xgyro = gyro(0);
msg.ygyro = gyro(1);
msg.zgyro = gyro(2);
}
sensor_mag_s sensor_mag;
if (_sensor_mag_sub.copy(&sensor_mag)) {
if (msg.time_boot_ms == 0) {
msg.time_boot_ms = sensor_mag.timestamp / 1000;
}
msg.xmag = sensor_mag.x * 1000.0f; // Gauss -> MilliGauss
msg.ymag = sensor_mag.y * 1000.0f; // Gauss -> MilliGauss
msg.zmag = sensor_mag.z * 1000.0f; // Gauss -> MilliGauss
msg.temperature = sensor_mag.temperature;
}
mavlink_msg_scaled_imu_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
#endif /* SCALED_IMU_HPP */