VehicleAcceleration.hpp
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/****************************************************************************
*
* Copyright (c) 2019 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/sensor_calibration/Accelerometer.hpp>
#include <lib/mathlib/math/Limits.hpp>
#include <lib/matrix/matrix/math.hpp>
#include <lib/mathlib/math/filter/LowPassFilter2p.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/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/estimator_selector_status.h>
#include <uORB/topics/estimator_sensor_bias.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/sensor_accel.h>
#include <uORB/topics/sensor_selection.h>
#include <uORB/topics/vehicle_acceleration.h>
using namespace time_literals;
namespace sensors
{
class VehicleAcceleration : public ModuleParams, public px4::ScheduledWorkItem
{
public:
VehicleAcceleration();
~VehicleAcceleration() override;
bool Start();
void Stop();
void PrintStatus();
private:
void Run() override;
void CheckAndUpdateFilters();
void ParametersUpdate(bool force = false);
void SensorBiasUpdate(bool force = false);
bool SensorSelectionUpdate(bool force = false);
static constexpr int MAX_SENSOR_COUNT = 4;
uORB::Publication<vehicle_acceleration_s> _vehicle_acceleration_pub{ORB_ID(vehicle_acceleration)};
uORB::Subscription _estimator_selector_status_sub{ORB_ID(estimator_selector_status)};
uORB::Subscription _estimator_sensor_bias_sub{ORB_ID(estimator_sensor_bias)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::SubscriptionCallbackWorkItem _sensor_selection_sub{this, ORB_ID(sensor_selection)};
uORB::SubscriptionCallbackWorkItem _sensor_sub{this, ORB_ID(sensor_accel)};
calibration::Accelerometer _calibration{};
matrix::Vector3f _bias{};
matrix::Vector3f _acceleration_prev{};
static constexpr const float kInitialRateHz{1000.f}; /**< sensor update rate used for initialization */
float _filter_sample_rate{NAN};
math::LowPassFilter2p<matrix::Vector3f> _lp_filter{kInitialRateHz, 30.f};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::IMU_ACCEL_CUTOFF>) _param_imu_accel_cutoff,
(ParamInt<px4::params::IMU_INTEG_RATE>) _param_imu_integ_rate
)
};
} // namespace sensors