/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- #ifndef __AP_INERTIAL_SENSOR_H__ #define __AP_INERTIAL_SENSOR_H__ // Gyro and Accelerometer calibration criteria #define AP_INERTIAL_SENSOR_ACCEL_TOT_MAX_OFFSET_CHANGE 4.0f #define AP_INERTIAL_SENSOR_ACCEL_MAX_OFFSET 250.0f /** maximum number of INS instances available on this platform. If more than 1 then redundent sensors may be available */ #if HAL_CPU_CLASS > HAL_CPU_CLASS_16 #define INS_MAX_INSTANCES 3 #else #define INS_MAX_INSTANCES 1 #endif #include #include #include #include "AP_InertialSensor_UserInteract.h" class AP_InertialSensor_Backend; /* AP_InertialSensor is an abstraction for gyro and accel measurements * which are correctly aligned to the body axes and scaled to SI units. * * Gauss-Newton accel calibration routines borrowed from Rolfe Schmidt * blog post describing the method: http://chionophilous.wordpress.com/2011/10/24/accelerometer-calibration-iv-1-implementing-gauss-newton-on-an-atmega/ * original sketch available at http://rolfeschmidt.com/mathtools/skimetrics/adxl_gn_calibration.pde */ class AP_InertialSensor { friend class AP_InertialSensor_Backend; public: AP_InertialSensor(); enum Start_style { COLD_START = 0, WARM_START }; // the rate that updates will be available to the application enum Sample_rate { RATE_50HZ, RATE_100HZ, RATE_200HZ, RATE_400HZ }; /// Perform startup initialisation. /// /// Called to initialise the state of the IMU. /// /// For COLD_START, implementations using real sensors can assume /// that the airframe is stationary and nominally oriented. /// /// For WARM_START, no assumptions should be made about the /// orientation or motion of the airframe. Calibration should be /// as for the previous COLD_START call. /// /// @param style The initialisation startup style. /// void init( Start_style style, Sample_rate sample_rate); /// Perform cold startup initialisation for just the accelerometers. /// /// @note This should not be called unless ::init has previously /// been called, as ::init may perform other work. /// void init_accel(); /// Register a new gyro/accel driver, allocating an instance /// number uint8_t register_gyro(void); uint8_t register_accel(void); #if !defined( __AVR_ATmega1280__ ) // perform accelerometer calibration including providing user instructions // and feedback bool calibrate_accel(AP_InertialSensor_UserInteract *interact, float& trim_roll, float& trim_pitch); #endif /// calibrated - returns true if the accelerometers have been calibrated /// /// @note this should not be called while flying because it reads from the eeprom which can be slow /// bool calibrated(); /// Perform cold-start initialisation for just the gyros. /// /// @note This should not be called unless ::init has previously /// been called, as ::init may perform other work /// void init_gyro(void); /// Fetch the current gyro values /// /// @returns vector of rotational rates in radians/sec /// const Vector3f &get_gyro(uint8_t i) const { return _gyro[i]; } const Vector3f &get_gyro(void) const { return get_gyro(_primary_gyro); } void set_gyro(uint8_t instance, const Vector3f &gyro); // set gyro offsets in radians/sec const Vector3f &get_gyro_offsets(uint8_t i) const { return _gyro_offset[i]; } const Vector3f &get_gyro_offsets(void) const { return get_gyro_offsets(_primary_gyro); } /// Fetch the current accelerometer values /// /// @returns vector of current accelerations in m/s/s /// const Vector3f &get_accel(uint8_t i) const { return _accel[i]; } const Vector3f &get_accel(void) const { return get_accel(_primary_accel); } void set_accel(uint8_t instance, const Vector3f &accel); // multi-device interface bool get_gyro_health(uint8_t instance) const { return true; } bool get_gyro_health(void) const { return get_gyro_health(_primary_gyro); } bool get_gyro_health_all(void) const; uint8_t get_gyro_count(void) const { return _gyro_count; } bool gyro_calibrated_ok(uint8_t instance) const { return _gyro_cal_ok[instance]; } bool gyro_calibrated_ok_all() const; bool get_accel_health(uint8_t instance) const { return true; } bool get_accel_health(void) const { return get_accel_health(_primary_accel); } bool get_accel_health_all(void) const; uint8_t get_accel_count(void) const { return _accel_count; }; // get accel offsets in m/s/s const Vector3f &get_accel_offsets(uint8_t i) const { return _accel_offset[i]; } const Vector3f &get_accel_offsets(void) const { return get_accel_offsets(_primary_accel); } // get accel scale const Vector3f &get_accel_scale(uint8_t i) const { return _accel_scale[i]; } const Vector3f &get_accel_scale(void) const { return get_accel_scale(_primary_accel); } /* get_delta_time returns the time period in seconds * overwhich the sensor data was collected */ float get_delta_time() const { return _delta_time; } // return the maximum gyro drift rate in radians/s/s. This // depends on what gyro chips are being used float get_gyro_drift_rate(void) const { return ToRad(0.5f/60); } // update gyro and accel values from accumulated samples void update(void); // wait for a sample to be available void wait_for_sample(void); // class level parameters static const struct AP_Param::GroupInfo var_info[]; // set overall board orientation void set_board_orientation(enum Rotation orientation) { _board_orientation = orientation; } // override default filter frequency void set_default_filter(float filter_hz) { if (!_mpu6000_filter.load()) { _mpu6000_filter.set(filter_hz); } } // get_filter - return filter in hz uint8_t get_filter() const { return _mpu6000_filter.get(); } uint16_t error_count(void) const { return 0; } bool healthy(void) const { return get_gyro_health() && get_accel_health(); } uint8_t get_primary_accel(void) const { return 0; } private: // load backend drivers void _detect_backends(Sample_rate sample_rate); // accel and gyro initialisation void _init_accel(); void _init_gyro(); #if !defined( __AVR_ATmega1280__ ) // Calibration routines borrowed from Rolfe Schmidt // blog post describing the method: http://chionophilous.wordpress.com/2011/10/24/accelerometer-calibration-iv-1-implementing-gauss-newton-on-an-atmega/ // original sketch available at http://rolfeschmidt.com/mathtools/skimetrics/adxl_gn_calibration.pde // _calibrate_accel - perform low level accel calibration bool _calibrate_accel(Vector3f accel_sample[6], Vector3f& accel_offsets, Vector3f& accel_scale); void _calibrate_update_matrices(float dS[6], float JS[6][6], float beta[6], float data[3]); void _calibrate_reset_matrices(float dS[6], float JS[6][6]); void _calibrate_find_delta(float dS[6], float JS[6][6], float delta[6]); void _calculate_trim(Vector3f accel_sample, float& trim_roll, float& trim_pitch); #endif // save parameters to eeprom void _save_parameters(); // backend objects AP_InertialSensor_Backend *_backends[INS_MAX_INSTANCES]; // number of gyros and accel drivers. Note that most backends // provide both accel and gyro data, so will increment both // counters on initialisation uint8_t _gyro_count; uint8_t _accel_count; // Most recent accelerometer reading Vector3f _accel[INS_MAX_INSTANCES]; // Most recent gyro reading Vector3f _gyro[INS_MAX_INSTANCES]; // timestamp of latest gyro and accel readings uint32_t _last_gyro_sample_time_usec[INS_MAX_INSTANCES]; uint32_t _last_accel_sample_time_usec[INS_MAX_INSTANCES]; // product id AP_Int16 _product_id; // accelerometer scaling and offsets AP_Vector3f _accel_scale[INS_MAX_INSTANCES]; AP_Vector3f _accel_offset[INS_MAX_INSTANCES]; AP_Vector3f _gyro_offset[INS_MAX_INSTANCES]; // filtering frequency (0 means default) AP_Int8 _mpu6000_filter; // board orientation from AHRS enum Rotation _board_orientation; // calibrated_ok flags bool _gyro_cal_ok[INS_MAX_INSTANCES]; // primary accel and gyro uint8_t _primary_gyro; uint8_t _primary_accel; // time between samples float _delta_time; // last time a wait_for_sample() returned a sample uint32_t _last_sample_usec; // time between samples in microseconds uint32_t _sample_period_usec; }; #include "AP_InertialSensor_Backend.h" #include "AP_InertialSensor_MPU6000.h" #include "AP_InertialSensor_PX4.h" #include "AP_InertialSensor_HIL.h" #include "AP_InertialSensor_UserInteract_Stream.h" #include "AP_InertialSensor_UserInteract_MAVLink.h" #endif // __AP_INERTIAL_SENSOR_H__