mirror of https://github.com/ArduPilot/ardupilot
619 lines
23 KiB
C++
619 lines
23 KiB
C++
#pragma once
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// Gyro and Accelerometer calibration criteria
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#define AP_INERTIAL_SENSOR_ACCEL_TOT_MAX_OFFSET_CHANGE 4.0f
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#define AP_INERTIAL_SENSOR_ACCEL_MAX_OFFSET 250.0f
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#define AP_INERTIAL_SENSOR_ACCEL_VIBE_FLOOR_FILT_HZ 5.0f // accel vibration floor filter hz
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#define AP_INERTIAL_SENSOR_ACCEL_VIBE_FILT_HZ 2.0f // accel vibration filter hz
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#define AP_INERTIAL_SENSOR_ACCEL_PEAK_DETECT_TIMEOUT_MS 500 // peak-hold detector timeout
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/**
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maximum number of INS instances available on this platform. If more
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than 1 then redundant sensors may be available
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*/
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#define INS_MAX_INSTANCES 3
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#define INS_MAX_BACKENDS 6
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#define INS_VIBRATION_CHECK_INSTANCES 2
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#define DEFAULT_IMU_LOG_BAT_MASK 0
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#include <stdint.h>
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#include <AP_AccelCal/AP_AccelCal.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Math/AP_Math.h>
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#include <Filter/LowPassFilter2p.h>
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#include <Filter/LowPassFilter.h>
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#include <Filter/NotchFilter.h>
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#include <Filter/HarmonicNotchFilter.h>
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class AP_InertialSensor_Backend;
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class AuxiliaryBus;
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class AP_AHRS;
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/*
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forward declare AP_Logger class. We can't include logger.h
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because of mutual dependencies
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*/
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class AP_Logger;
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/* AP_InertialSensor is an abstraction for gyro and accel measurements
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* which are correctly aligned to the body axes and scaled to SI units.
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*
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* Gauss-Newton accel calibration routines borrowed from Rolfe Schmidt
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* blog post describing the method: http://chionophilous.wordpress.com/2011/10/24/accelerometer-calibration-iv-1-implementing-gauss-newton-on-an-atmega/
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* original sketch available at http://rolfeschmidt.com/mathtools/skimetrics/adxl_gn_calibration.pde
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*/
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class AP_InertialSensor : AP_AccelCal_Client
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{
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friend class AP_InertialSensor_Backend;
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public:
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AP_InertialSensor();
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/* Do not allow copies */
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AP_InertialSensor(const AP_InertialSensor &other) = delete;
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AP_InertialSensor &operator=(const AP_InertialSensor&) = delete;
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static AP_InertialSensor *get_singleton();
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enum Gyro_Calibration_Timing {
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GYRO_CAL_NEVER = 0,
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GYRO_CAL_STARTUP_ONLY = 1
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};
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/// Perform startup initialisation.
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///
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/// Called to initialise the state of the IMU.
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///
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/// Gyros will be calibrated unless INS_GYRO_CAL is zero
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///
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/// @param style The initialisation startup style.
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///
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void init(uint16_t sample_rate_hz);
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/// Register a new gyro/accel driver, allocating an instance
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/// number
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uint8_t register_gyro(uint16_t raw_sample_rate_hz, uint32_t id);
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uint8_t register_accel(uint16_t raw_sample_rate_hz, uint32_t id);
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// a function called by the main thread at the main loop rate:
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void periodic();
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bool calibrate_trim(float &trim_roll, float &trim_pitch);
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/// calibrating - returns true if the gyros or accels are currently being calibrated
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bool calibrating() const { return _calibrating; }
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/// Perform cold-start initialisation for just the gyros.
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///
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/// @note This should not be called unless ::init has previously
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/// been called, as ::init may perform other work
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///
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void init_gyro(void);
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/// Fetch the current gyro values
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///
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/// @returns vector of rotational rates in radians/sec
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///
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const Vector3f &get_gyro(uint8_t i) const { return _gyro[i]; }
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const Vector3f &get_gyro(void) const { return get_gyro(_primary_gyro); }
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// set gyro offsets in radians/sec
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const Vector3f &get_gyro_offsets(uint8_t i) const { return _gyro_offset[i]; }
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const Vector3f &get_gyro_offsets(void) const { return get_gyro_offsets(_primary_gyro); }
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//get delta angle if available
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bool get_delta_angle(uint8_t i, Vector3f &delta_angle) const;
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bool get_delta_angle(Vector3f &delta_angle) const { return get_delta_angle(_primary_gyro, delta_angle); }
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float get_delta_angle_dt(uint8_t i) const;
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float get_delta_angle_dt() const { return get_delta_angle_dt(_primary_accel); }
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//get delta velocity if available
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bool get_delta_velocity(uint8_t i, Vector3f &delta_velocity) const;
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bool get_delta_velocity(Vector3f &delta_velocity) const { return get_delta_velocity(_primary_accel, delta_velocity); }
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float get_delta_velocity_dt(uint8_t i) const;
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float get_delta_velocity_dt() const { return get_delta_velocity_dt(_primary_accel); }
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/// Fetch the current accelerometer values
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///
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/// @returns vector of current accelerations in m/s/s
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///
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const Vector3f &get_accel(uint8_t i) const { return _accel[i]; }
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const Vector3f &get_accel(void) const { return get_accel(_primary_accel); }
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uint32_t get_gyro_error_count(uint8_t i) const { return _gyro_error_count[i]; }
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uint32_t get_accel_error_count(uint8_t i) const { return _accel_error_count[i]; }
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// multi-device interface
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bool get_gyro_health(uint8_t instance) const { return (instance<_gyro_count) ? _gyro_healthy[instance] : false; }
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bool get_gyro_health(void) const { return get_gyro_health(_primary_gyro); }
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bool get_gyro_health_all(void) const;
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uint8_t get_gyro_count(void) const { return _gyro_count; }
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bool gyro_calibrated_ok(uint8_t instance) const { return _gyro_cal_ok[instance]; }
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bool gyro_calibrated_ok_all() const;
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bool use_gyro(uint8_t instance) const;
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Gyro_Calibration_Timing gyro_calibration_timing();
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bool get_accel_health(uint8_t instance) const { return (instance<_accel_count) ? _accel_healthy[instance] : false; }
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bool get_accel_health(void) const { return get_accel_health(_primary_accel); }
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bool get_accel_health_all(void) const;
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uint8_t get_accel_count(void) const { return _accel_count; }
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bool accel_calibrated_ok_all() const;
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bool use_accel(uint8_t instance) const;
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// get observed sensor rates, including any internal sampling multiplier
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uint16_t get_gyro_rate_hz(uint8_t instance) const { return uint16_t(_gyro_raw_sample_rates[instance] * _gyro_over_sampling[instance]); }
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uint16_t get_accel_rate_hz(uint8_t instance) const { return uint16_t(_accel_raw_sample_rates[instance] * _accel_over_sampling[instance]); }
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// get accel offsets in m/s/s
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const Vector3f &get_accel_offsets(uint8_t i) const { return _accel_offset[i]; }
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const Vector3f &get_accel_offsets(void) const { return get_accel_offsets(_primary_accel); }
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// get accel scale
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const Vector3f &get_accel_scale(uint8_t i) const { return _accel_scale[i]; }
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const Vector3f &get_accel_scale(void) const { return get_accel_scale(_primary_accel); }
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// return a 3D vector defining the position offset of the IMU accelerometer in metres relative to the body frame origin
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const Vector3f &get_imu_pos_offset(uint8_t instance) const {
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return _accel_pos[instance];
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}
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const Vector3f &get_imu_pos_offset(void) const {
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return _accel_pos[_primary_accel];
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}
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// return the temperature if supported. Zero is returned if no
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// temperature is available
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float get_temperature(uint8_t instance) const { return _temperature[instance]; }
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/* get_delta_time returns the time period in seconds
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* overwhich the sensor data was collected
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*/
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float get_delta_time() const { return MIN(_delta_time, _loop_delta_t_max); }
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// return the maximum gyro drift rate in radians/s/s. This
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// depends on what gyro chips are being used
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float get_gyro_drift_rate(void) const { return ToRad(0.5f/60); }
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// update gyro and accel values from accumulated samples
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void update(void);
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// wait for a sample to be available
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void wait_for_sample(void);
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// class level parameters
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static const struct AP_Param::GroupInfo var_info[];
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// set overall board orientation
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void set_board_orientation(enum Rotation orientation, Matrix3f* custom_rotation = nullptr) {
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_board_orientation = orientation;
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_custom_rotation = custom_rotation;
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}
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// return the selected sample rate
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uint16_t get_sample_rate(void) const { return _sample_rate; }
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// return the main loop delta_t in seconds
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float get_loop_delta_t(void) const { return _loop_delta_t; }
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bool healthy(void) const { return get_gyro_health() && get_accel_health(); }
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uint8_t get_primary_accel(void) const { return _primary_accel; }
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uint8_t get_primary_gyro(void) const { return _primary_gyro; }
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// Update the harmonic notch frequency
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void update_harmonic_notch_freq_hz(float scaled_freq);
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// enable HIL mode
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void set_hil_mode(void) { _hil_mode = true; }
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// get the gyro filter rate in Hz
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uint16_t get_gyro_filter_hz(void) const { return _gyro_filter_cutoff; }
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// get the accel filter rate in Hz
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uint16_t get_accel_filter_hz(void) const { return _accel_filter_cutoff; }
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// harmonic notch current center frequency
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float get_gyro_dynamic_notch_center_freq_hz(void) const { return _calculated_harmonic_notch_freq_hz; }
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// harmonic notch reference center frequency
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float get_gyro_harmonic_notch_center_freq_hz(void) const { return _harmonic_notch_filter.center_freq_hz(); }
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// harmonic notch reference scale factor
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float get_gyro_harmonic_notch_reference(void) const { return _harmonic_notch_filter.reference(); }
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// harmonic notch tracking mode
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uint8_t get_gyro_harmonic_notch_tracking_mode(void) const { return _harmonic_notch_filter.tracking_mode(); }
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// indicate which bit in LOG_BITMASK indicates raw logging enabled
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void set_log_raw_bit(uint32_t log_raw_bit) { _log_raw_bit = log_raw_bit; }
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// calculate vibration levels and check for accelerometer clipping (called by a backends)
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void calc_vibration_and_clipping(uint8_t instance, const Vector3f &accel, float dt);
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// retrieve latest calculated vibration levels
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Vector3f get_vibration_levels() const { return get_vibration_levels(_primary_accel); }
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Vector3f get_vibration_levels(uint8_t instance) const;
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// retrieve and clear accelerometer clipping count
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uint32_t get_accel_clip_count(uint8_t instance) const;
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// check for vibration movement. True when all axis show nearly zero movement
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bool is_still();
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/*
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HIL set functions. The minimum for HIL is set_accel() and
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set_gyro(). The others are option for higher fidelity log
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playback
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*/
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void set_accel(uint8_t instance, const Vector3f &accel);
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void set_gyro(uint8_t instance, const Vector3f &gyro);
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void set_delta_time(float delta_time);
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void set_delta_velocity(uint8_t instance, float deltavt, const Vector3f &deltav);
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void set_delta_angle(uint8_t instance, const Vector3f &deltaa, float deltaat);
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AuxiliaryBus *get_auxiliary_bus(int16_t backend_id) { return get_auxiliary_bus(backend_id, 0); }
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AuxiliaryBus *get_auxiliary_bus(int16_t backend_id, uint8_t instance);
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void detect_backends(void);
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// accel peak hold detector
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void set_accel_peak_hold(uint8_t instance, const Vector3f &accel);
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float get_accel_peak_hold_neg_x() const { return _peak_hold_state.accel_peak_hold_neg_x; }
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//Returns accel calibrator interface object pointer
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AP_AccelCal* get_acal() const { return _acal; }
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// Returns body fixed accelerometer level data averaged during accel calibration's first step
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bool get_fixed_mount_accel_cal_sample(uint8_t sample_num, Vector3f& ret) const;
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// Returns primary accelerometer level data averaged during accel calibration's first step
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bool get_primary_accel_cal_sample_avg(uint8_t sample_num, Vector3f& ret) const;
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// Returns newly calculated trim values if calculated
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bool get_new_trim(float& trim_roll, float &trim_pitch);
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// initialise and register accel calibrator
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// called during the startup of accel cal
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void acal_init();
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// update accel calibrator
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void acal_update();
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// simple accel calibration
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MAV_RESULT simple_accel_cal();
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bool accel_cal_requires_reboot() const { return _accel_cal_requires_reboot; }
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// return time in microseconds of last update() call
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uint32_t get_last_update_usec(void) const { return _last_update_usec; }
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// for killing an IMU for testing purposes
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void kill_imu(uint8_t imu_idx, bool kill_it);
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enum IMU_SENSOR_TYPE {
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IMU_SENSOR_TYPE_ACCEL = 0,
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IMU_SENSOR_TYPE_GYRO = 1,
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};
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class BatchSampler {
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public:
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BatchSampler(const AP_InertialSensor &imu) :
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type(IMU_SENSOR_TYPE_ACCEL),
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_imu(imu) {
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AP_Param::setup_object_defaults(this, var_info);
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};
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void init();
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void sample(uint8_t instance, IMU_SENSOR_TYPE _type, uint64_t sample_us, const Vector3f &sample);
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// a function called by the main thread at the main loop rate:
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void periodic();
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bool doing_sensor_rate_logging() const { return _doing_sensor_rate_logging; }
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bool doing_post_filter_logging() const { return _doing_post_filter_logging; }
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// class level parameters
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static const struct AP_Param::GroupInfo var_info[];
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// Parameters
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AP_Int16 _required_count;
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AP_Int8 _sensor_mask;
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AP_Int8 _batch_options_mask;
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// Parameters controlling pushing data to AP_Logger:
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// Each DF message is ~ 108 bytes in size, so we use about 1kB/s of
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// logging bandwidth with a 100ms interval. If we are taking
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// 1024 samples then we need to send 32 packets, so it will
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// take ~3 seconds to push a complete batch to the log. If
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// you are running a on an FMU with three IMUs then you
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// will loop back around to the first sensor after about
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// twenty seconds.
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AP_Int16 samples_per_msg;
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AP_Int8 push_interval_ms;
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// end Parameters
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private:
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enum batch_opt_t {
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BATCH_OPT_SENSOR_RATE = (1<<0),
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BATCH_OPT_POST_FILTER = (1<<1),
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};
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void rotate_to_next_sensor();
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void update_doing_sensor_rate_logging();
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bool should_log(uint8_t instance, IMU_SENSOR_TYPE type);
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void push_data_to_log();
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uint64_t measurement_started_us;
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bool initialised : 1;
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bool isbh_sent : 1;
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bool _doing_sensor_rate_logging : 1;
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bool _doing_post_filter_logging : 1;
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uint8_t instance : 3; // instance we are sending data for
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AP_InertialSensor::IMU_SENSOR_TYPE type : 1;
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uint16_t isb_seqnum;
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int16_t *data_x;
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int16_t *data_y;
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int16_t *data_z;
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uint16_t data_write_offset; // units: samples
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uint16_t data_read_offset; // units: samples
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uint32_t last_sent_ms;
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// all samples are multiplied by this
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uint16_t multiplier; // initialised as part of init()
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const AP_InertialSensor &_imu;
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};
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BatchSampler batchsampler{*this};
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private:
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// load backend drivers
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bool _add_backend(AP_InertialSensor_Backend *backend);
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void _start_backends();
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AP_InertialSensor_Backend *_find_backend(int16_t backend_id, uint8_t instance);
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// gyro initialisation
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void _init_gyro();
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// Calibration routines borrowed from Rolfe Schmidt
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// blog post describing the method: http://chionophilous.wordpress.com/2011/10/24/accelerometer-calibration-iv-1-implementing-gauss-newton-on-an-atmega/
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// original sketch available at http://rolfeschmidt.com/mathtools/skimetrics/adxl_gn_calibration.pde
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bool _calculate_trim(const Vector3f &accel_sample, float& trim_roll, float& trim_pitch);
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// save gyro calibration values to eeprom
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void _save_gyro_calibration();
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// backend objects
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AP_InertialSensor_Backend *_backends[INS_MAX_BACKENDS];
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// number of gyros and accel drivers. Note that most backends
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// provide both accel and gyro data, so will increment both
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// counters on initialisation
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uint8_t _gyro_count;
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uint8_t _accel_count;
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uint8_t _backend_count;
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// the selected sample rate
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uint16_t _sample_rate;
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float _loop_delta_t;
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float _loop_delta_t_max;
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// Most recent accelerometer reading
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Vector3f _accel[INS_MAX_INSTANCES];
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Vector3f _delta_velocity[INS_MAX_INSTANCES];
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float _delta_velocity_dt[INS_MAX_INSTANCES];
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bool _delta_velocity_valid[INS_MAX_INSTANCES];
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// delta velocity accumulator
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Vector3f _delta_velocity_acc[INS_MAX_INSTANCES];
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// time accumulator for delta velocity accumulator
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float _delta_velocity_acc_dt[INS_MAX_INSTANCES];
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// Low Pass filters for gyro and accel
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LowPassFilter2pVector3f _accel_filter[INS_MAX_INSTANCES];
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LowPassFilter2pVector3f _gyro_filter[INS_MAX_INSTANCES];
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Vector3f _accel_filtered[INS_MAX_INSTANCES];
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Vector3f _gyro_filtered[INS_MAX_INSTANCES];
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bool _new_accel_data[INS_MAX_INSTANCES];
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bool _new_gyro_data[INS_MAX_INSTANCES];
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// optional notch filter on gyro
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NotchFilterParams _notch_filter;
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NotchFilterVector3f _gyro_notch_filter[INS_MAX_INSTANCES];
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// optional harmonic notch filter on gyro
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HarmonicNotchFilterParams _harmonic_notch_filter;
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HarmonicNotchFilterVector3f _gyro_harmonic_notch_filter[INS_MAX_INSTANCES];
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// the current center frequency for the notch
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float _calculated_harmonic_notch_freq_hz;
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// Most recent gyro reading
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Vector3f _gyro[INS_MAX_INSTANCES];
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Vector3f _delta_angle[INS_MAX_INSTANCES];
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float _delta_angle_dt[INS_MAX_INSTANCES];
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bool _delta_angle_valid[INS_MAX_INSTANCES];
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// time accumulator for delta angle accumulator
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float _delta_angle_acc_dt[INS_MAX_INSTANCES];
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Vector3f _delta_angle_acc[INS_MAX_INSTANCES];
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Vector3f _last_delta_angle[INS_MAX_INSTANCES];
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Vector3f _last_raw_gyro[INS_MAX_INSTANCES];
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// bitmask indicating if a sensor is doing sensor-rate sampling:
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uint8_t _accel_sensor_rate_sampling_enabled;
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uint8_t _gyro_sensor_rate_sampling_enabled;
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// multipliers for data supplied via sensor-rate logging:
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uint16_t _accel_raw_sampling_multiplier[INS_MAX_INSTANCES];
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uint16_t _gyro_raw_sampling_multiplier[INS_MAX_INSTANCES];
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// IDs to uniquely identify each sensor: shall remain
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// the same across reboots
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AP_Int32 _accel_id[INS_MAX_INSTANCES];
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AP_Int32 _gyro_id[INS_MAX_INSTANCES];
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// accelerometer scaling and offsets
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AP_Vector3f _accel_scale[INS_MAX_INSTANCES];
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AP_Vector3f _accel_offset[INS_MAX_INSTANCES];
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AP_Vector3f _gyro_offset[INS_MAX_INSTANCES];
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// accelerometer position offset in body frame
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AP_Vector3f _accel_pos[INS_MAX_INSTANCES];
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// accelerometer max absolute offsets to be used for calibration
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float _accel_max_abs_offsets[INS_MAX_INSTANCES];
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// accelerometer and gyro raw sample rate in units of Hz
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float _accel_raw_sample_rates[INS_MAX_INSTANCES];
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float _gyro_raw_sample_rates[INS_MAX_INSTANCES];
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// how many sensors samples per notify to the backend
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uint8_t _accel_over_sampling[INS_MAX_INSTANCES];
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uint8_t _gyro_over_sampling[INS_MAX_INSTANCES];
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// last sample time in microseconds. Use for deltaT calculations
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// on non-FIFO sensors
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uint64_t _accel_last_sample_us[INS_MAX_INSTANCES];
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uint64_t _gyro_last_sample_us[INS_MAX_INSTANCES];
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// sample times for checking real sensor rate for FIFO sensors
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uint16_t _sample_accel_count[INS_MAX_INSTANCES];
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uint32_t _sample_accel_start_us[INS_MAX_INSTANCES];
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uint16_t _sample_gyro_count[INS_MAX_INSTANCES];
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uint32_t _sample_gyro_start_us[INS_MAX_INSTANCES];
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// temperatures for an instance if available
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float _temperature[INS_MAX_INSTANCES];
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// filtering frequency (0 means default)
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AP_Int16 _accel_filter_cutoff;
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AP_Int16 _gyro_filter_cutoff;
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AP_Int8 _gyro_cal_timing;
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// use for attitude, velocity, position estimates
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AP_Int8 _use[INS_MAX_INSTANCES];
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// control enable of fast sampling
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AP_Int8 _fast_sampling_mask;
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// control enable of detected sensors
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AP_Int8 _enable_mask;
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// board orientation from AHRS
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enum Rotation _board_orientation;
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Matrix3f* _custom_rotation;
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// per-sensor orientation to allow for board type defaults at runtime
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enum Rotation _gyro_orientation[INS_MAX_INSTANCES];
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enum Rotation _accel_orientation[INS_MAX_INSTANCES];
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// calibrated_ok/id_ok flags
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bool _gyro_cal_ok[INS_MAX_INSTANCES];
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bool _accel_id_ok[INS_MAX_INSTANCES];
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// primary accel and gyro
|
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uint8_t _primary_gyro;
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uint8_t _primary_accel;
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// mask of accels and gyros which we will be actively using
|
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// and this should wait for in wait_for_sample()
|
|
uint8_t _gyro_wait_mask;
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uint8_t _accel_wait_mask;
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|
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// bitmask bit which indicates if we should log raw accel and gyro data
|
|
uint32_t _log_raw_bit;
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|
|
|
// has wait_for_sample() found a sample?
|
|
bool _have_sample:1;
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|
|
|
// are we in HIL mode?
|
|
bool _hil_mode:1;
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|
|
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// are gyros or accels currently being calibrated
|
|
bool _calibrating:1;
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|
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bool _backends_detected:1;
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|
|
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// the delta time in seconds for the last sample
|
|
float _delta_time;
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|
|
|
// last time a wait_for_sample() returned a sample
|
|
uint32_t _last_sample_usec;
|
|
|
|
// target time for next wait_for_sample() return
|
|
uint32_t _next_sample_usec;
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|
|
|
// time between samples in microseconds
|
|
uint32_t _sample_period_usec;
|
|
|
|
// last time update() completed
|
|
uint32_t _last_update_usec;
|
|
|
|
// health of gyros and accels
|
|
bool _gyro_healthy[INS_MAX_INSTANCES];
|
|
bool _accel_healthy[INS_MAX_INSTANCES];
|
|
|
|
uint32_t _accel_error_count[INS_MAX_INSTANCES];
|
|
uint32_t _gyro_error_count[INS_MAX_INSTANCES];
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|
|
|
// vibration and clipping
|
|
uint32_t _accel_clip_count[INS_MAX_INSTANCES];
|
|
LowPassFilterVector3f _accel_vibe_floor_filter[INS_VIBRATION_CHECK_INSTANCES];
|
|
LowPassFilterVector3f _accel_vibe_filter[INS_VIBRATION_CHECK_INSTANCES];
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|
|
|
// peak hold detector state for primary accel
|
|
struct PeakHoldState {
|
|
float accel_peak_hold_neg_x;
|
|
uint32_t accel_peak_hold_neg_x_age;
|
|
} _peak_hold_state;
|
|
|
|
// threshold for detecting stillness
|
|
AP_Float _still_threshold;
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|
|
|
/*
|
|
state for HIL support
|
|
*/
|
|
struct {
|
|
float delta_time;
|
|
} _hil {};
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|
|
|
// Trim options
|
|
AP_Int8 _acc_body_aligned;
|
|
AP_Int8 _trim_option;
|
|
|
|
static AP_InertialSensor *_singleton;
|
|
AP_AccelCal* _acal;
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|
|
|
AccelCalibrator *_accel_calibrator;
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|
|
|
//save accelerometer bias and scale factors
|
|
void _acal_save_calibrations() override;
|
|
void _acal_event_failure() override;
|
|
|
|
// Returns AccelCalibrator objects pointer for specified acceleromter
|
|
AccelCalibrator* _acal_get_calibrator(uint8_t i) override { return i<get_accel_count()?&(_accel_calibrator[i]):nullptr; }
|
|
|
|
float _trim_pitch;
|
|
float _trim_roll;
|
|
bool _new_trim;
|
|
|
|
bool _accel_cal_requires_reboot;
|
|
|
|
// sensor error count at startup (used to ignore errors within 2 seconds of startup)
|
|
uint32_t _accel_startup_error_count[INS_MAX_INSTANCES];
|
|
uint32_t _gyro_startup_error_count[INS_MAX_INSTANCES];
|
|
bool _startup_error_counts_set;
|
|
uint32_t _startup_ms;
|
|
|
|
uint8_t imu_kill_mask;
|
|
};
|
|
|
|
namespace AP {
|
|
AP_InertialSensor &ins();
|
|
};
|