/// -*- 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 CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_LINUX || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL #define INS_MAX_INSTANCES 3 #elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN #define INS_MAX_INSTANCES 3 #else #define INS_MAX_INSTANCES 1 #endif #include #include #include #include "AP_InertialSensor_UserInteract.h" /* 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 { public: AP_InertialSensor(); // empty virtual destructor virtual ~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. /// virtual 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. /// virtual void init_accel(); #if !defined( __AVR_ATmega1280__ ) // perform accelerometer calibration including providing user instructions // and feedback virtual 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 /// virtual 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(_get_primary_gyro()); } virtual 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(_get_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(get_primary_accel()); } virtual void set_accel(uint8_t instance, const Vector3f &accel) {} // multi-device interface virtual bool get_gyro_health(uint8_t instance) const { return true; } bool get_gyro_health(void) const { return get_gyro_health(_get_primary_gyro()); } virtual uint8_t get_gyro_count(void) const { return 1; }; virtual bool get_accel_health(uint8_t instance) const { return true; } bool get_accel_health(void) const { return get_accel_health(get_primary_accel()); } virtual uint8_t get_accel_count(void) const { return 1; }; // 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(get_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(get_primary_accel()); } /* Update the sensor data, so that getters are nonblocking. * Returns a bool of whether data was updated or not. */ virtual bool update() = 0; /* get_delta_time returns the time period in seconds * overwhich the sensor data was collected */ virtual float get_delta_time() const = 0; // return the maximum gyro drift rate in radians/s/s. This // depends on what gyro chips are being used virtual float get_gyro_drift_rate(void) = 0; // wait for a sample to be available, with timeout in milliseconds virtual bool wait_for_sample(uint16_t timeout_ms) = 0; // 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 virtual uint8_t get_filter() const { return _mpu6000_filter.get(); } virtual uint16_t error_count(void) const { return 0; } virtual bool healthy(void) const { return get_gyro_health() && get_accel_health(); } virtual uint8_t get_primary_accel(void) const { return 0; } protected: virtual uint8_t _get_primary_gyro(void) const { return 0; } // sensor specific init to be overwritten by descendant classes virtual uint16_t _init_sensor( Sample_rate sample_rate ) = 0; // no-save implementations of accel and gyro initialisation routines virtual void _init_accel(); virtual 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 virtual bool _calibrate_accel(Vector3f accel_sample[6], Vector3f& accel_offsets, Vector3f& accel_scale); virtual void _calibrate_update_matrices(float dS[6], float JS[6][6], float beta[6], float data[3]); virtual void _calibrate_reset_matrices(float dS[6], float JS[6][6]); virtual void _calibrate_find_delta(float dS[6], float JS[6][6], float delta[6]); virtual void _calculate_trim(Vector3f accel_sample, float& trim_roll, float& trim_pitch); #endif // save parameters to eeprom void _save_parameters(); // Most recent accelerometer reading obtained by ::update Vector3f _accel[INS_MAX_INSTANCES]; // previous accelerometer reading obtained by ::update Vector3f _previous_accel[INS_MAX_INSTANCES]; // Most recent gyro reading obtained by ::update Vector3f _gyro[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; }; #include "AP_InertialSensor_Oilpan.h" #include "AP_InertialSensor_MPU6000.h" #include "AP_InertialSensor_HIL.h" #include "AP_InertialSensor_PX4.h" #include "AP_InertialSensor_VRBRAIN.h" #include "AP_InertialSensor_UserInteract_Stream.h" #include "AP_InertialSensor_UserInteract_MAVLink.h" #include "AP_InertialSensor_Flymaple.h" #include "AP_InertialSensor_L3G4200D.h" #include "AP_InertialSensor_MPU9150.h" #include "AP_InertialSensor_MPU9250.h" #endif // __AP_INERTIAL_SENSOR_H__