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https://github.com/ArduPilot/ardupilot
synced 2025-02-02 14:08:45 -04:00
AP_InertialSensor: update PX4 driver to use read() method
This commit is contained in:
Andrew Tridgell
parent
aff5b1559d
commit
16d72ca160
@ -13,55 +13,46 @@ const extern AP_HAL::HAL& hal;
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#include <drivers/drv_accel.h>
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#include <drivers/drv_gyro.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/sensor_combined.h>
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uint16_t AP_InertialSensor_PX4::_init_sensor( Sample_rate sample_rate ) {
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uint16_t rate_hz;
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int fd;
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uint16_t AP_InertialSensor_PX4::_init_sensor( Sample_rate sample_rate )
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{
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switch (sample_rate) {
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case RATE_50HZ:
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rate_hz = 50;
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_sample_divider = 4;
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break;
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case RATE_100HZ:
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rate_hz = 100;
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_sample_divider = 2;
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break;
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case RATE_200HZ:
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default:
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rate_hz = 200;
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_sample_divider = 1;
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break;
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}
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// init accelerometers
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fd = open(ACCEL_DEVICE_PATH, 0);
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if (fd < 0) {
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_accel_fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
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if (_accel_fd < 0) {
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hal.scheduler->panic("Unable to open accel device " ACCEL_DEVICE_PATH);
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}
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/* set the accel internal sampling rate */
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ioctl(fd, ACCELIOCSSAMPLERATE, rate_hz);
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/* set the driver poll rate */
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ioctl(fd, SENSORIOCSPOLLRATE, rate_hz);
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close(fd);
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_accel_sub = orb_subscribe(ORB_ID(sensor_accel));
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// init gyros
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fd = open(GYRO_DEVICE_PATH, 0);
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if (fd < 0) {
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_gyro_fd = open(GYRO_DEVICE_PATH, O_RDONLY);
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if (_gyro_fd < 0) {
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hal.scheduler->panic("Unable to open gyro device " GYRO_DEVICE_PATH);
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}
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/* set the gyro internal sampling rate */
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ioctl(fd, GYROIOCSSAMPLERATE, rate_hz);
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/*
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* set the accel and gyro sampling rate. We always set these to
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* 200 then average in this driver
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*/
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ioctl(_accel_fd, ACCELIOCSSAMPLERATE, 200);
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ioctl(_accel_fd, SENSORIOCSPOLLRATE, 200);
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ioctl(_gyro_fd, GYROIOCSSAMPLERATE, 200);
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ioctl(_gyro_fd, SENSORIOCSPOLLRATE, 200);
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/* set the driver poll rate */
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ioctl(fd, SENSORIOCSPOLLRATE, rate_hz);
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close(fd);
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_gyro_sub = orb_subscribe(ORB_ID(sensor_gyro));
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// ask for a 10 sample buffer. The mpu6000 PX4 driver doesn't
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// support this yet, but when it does we want to use it
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ioctl(_accel_fd, SENSORIOCSQUEUEDEPTH, 10);
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ioctl(_gyro_fd, SENSORIOCSQUEUEDEPTH, 10);
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return AP_PRODUCT_ID_PX4;
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}
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@ -71,32 +62,34 @@ uint16_t AP_InertialSensor_PX4::_init_sensor( Sample_rate sample_rate ) {
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bool AP_InertialSensor_PX4::update(void)
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{
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while (num_samples_available() == 0) {
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hal.scheduler->delay_microseconds(1);
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hal.scheduler->delay(1);
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}
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uint32_t now = hal.scheduler->micros();
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_delta_time_usec = now - _last_update_usec;
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// the current mpu6000 PX4 driver does not buffer samples, so
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// using the sample count times 5ms would produce a bad delta time
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// if we missed one. For now we need to use the clock to get the
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// delta time
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_delta_time = (now - _last_update_usec) * 1.0e-6f;
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_last_update_usec = now;
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Vector3f accel_scale = _accel_scale.get();
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_accel = Vector3f(_raw_sensors.accelerometer_m_s2[0],
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_raw_sensors.accelerometer_m_s2[1],
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_raw_sensors.accelerometer_m_s2[2]);
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_accel = _accel_sum / _accel_sum_count;
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_accel.rotate(_board_orientation);
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_accel.x *= accel_scale.x;
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_accel.y *= accel_scale.y;
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_accel.z *= accel_scale.z;
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_accel /= _raw_sensors.accelerometer_counter;
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_accel -= _accel_offset;
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_gyro = Vector3f(_raw_sensors.gyro_rad_s[0],
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_raw_sensors.gyro_rad_s[1],
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_raw_sensors.gyro_rad_s[2]);
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_gyro = _gyro_sum / _gyro_sum_count;
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_gyro.rotate(_board_orientation);
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_gyro /= _raw_sensors.gyro_counter;
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_gyro -= _gyro_offset;
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memset(&_raw_sensors, 0, sizeof(_raw_sensors));
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_accel_sum.zero();
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_accel_sum_count = 0;
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_gyro_sum.zero();
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_gyro_sum_count = 0;
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return true;
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}
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@ -114,7 +107,7 @@ float AP_InertialSensor_PX4::temperature(void)
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float AP_InertialSensor_PX4::get_delta_time(void)
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{
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return _delta_time_usec * 1.0e-6;
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return _delta_time;
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}
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uint32_t AP_InertialSensor_PX4::get_last_sample_time_micros(void)
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@ -130,45 +123,20 @@ float AP_InertialSensor_PX4::get_gyro_drift_rate(void)
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uint16_t AP_InertialSensor_PX4::num_samples_available(void)
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{
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bool accel_updated=false;
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bool gyro_updated =false;
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orb_check(_accel_sub, &accel_updated);
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if (accel_updated) {
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struct accel_report accel_report;
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orb_copy(ORB_ID(sensor_accel), _accel_sub, &accel_report);
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_raw_sensors.accelerometer_m_s2[0] += accel_report.x;
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_raw_sensors.accelerometer_m_s2[1] += accel_report.y;
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_raw_sensors.accelerometer_m_s2[2] += accel_report.z;
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_raw_sensors.accelerometer_raw[0] = accel_report.x_raw;
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_raw_sensors.accelerometer_raw[1] = accel_report.y_raw;
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_raw_sensors.accelerometer_raw[2] = accel_report.z_raw;
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_raw_sensors.accelerometer_counter++;
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struct accel_report accel_report;
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struct gyro_report gyro_report;
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if (::read(_accel_fd, &accel_report, sizeof(accel_report)) == sizeof(accel_report)) {
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_accel_sum += Vector3f(accel_report.x, accel_report.y, accel_report.z);
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_accel_sum_count++;
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}
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orb_check(_gyro_sub, &gyro_updated);
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if (gyro_updated) {
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struct gyro_report gyro_report;
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orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &gyro_report);
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_raw_sensors.gyro_rad_s[0] += gyro_report.x;
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_raw_sensors.gyro_rad_s[1] += gyro_report.y;
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_raw_sensors.gyro_rad_s[2] += gyro_report.z;
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_raw_sensors.gyro_raw[0] = gyro_report.x_raw;
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_raw_sensors.gyro_raw[1] = gyro_report.y_raw;
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_raw_sensors.gyro_raw[2] = gyro_report.z_raw;
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_raw_sensors.gyro_counter++;
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if (::read(_gyro_fd, &gyro_report, sizeof(gyro_report)) == sizeof(gyro_report)) {
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_gyro_sum += Vector3f(gyro_report.x, gyro_report.y, gyro_report.z);
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_gyro_sum_count++;
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}
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return min(_raw_sensors.accelerometer_counter, _raw_sensors.gyro_counter);
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return min(_accel_sum_count, _gyro_sum_count) / _sample_divider;
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}
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#endif // CONFIG_HAL_BOARD
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@ -31,17 +31,16 @@ public:
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private:
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uint16_t _init_sensor( Sample_rate sample_rate );
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uint32_t _last_update_usec;
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uint32_t _delta_time_usec;
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float _delta_time;
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Vector3f _accel_sum;
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uint32_t _accel_sum_count;
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Vector3f _gyro_sum;
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uint32_t _gyro_sum_count;
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uint8_t _sample_divider;
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// accelerometer ORB subscription handle
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int _accel_sub;
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// gyro ORB subscription handle
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int _gyro_sub;
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// raw sensor values, combined structure
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struct sensor_combined_s _raw_sensors;
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// accelerometer and gyro driver handles
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int _accel_fd;
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int _gyro_fd;
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};
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#endif
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#endif // __AP_INERTIAL_SENSOR_PX4_H__
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