mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-04 23:18:28 -04:00
144 lines
3.6 KiB
C++
144 lines
3.6 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#include "AP_InertialSensor_PX4.h"
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const extern AP_HAL::HAL& hal;
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <drivers/drv_accel.h>
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#include <drivers/drv_gyro.h>
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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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_sample_divider = 4;
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break;
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case RATE_100HZ:
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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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_sample_divider = 1;
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break;
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}
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// init accelerometers
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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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_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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/*
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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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// 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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/*================ AP_INERTIALSENSOR PUBLIC INTERFACE ==================== */
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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(1);
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}
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uint32_t now = hal.scheduler->micros();
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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 = _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 -= _accel_offset;
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_gyro = _gyro_sum / _gyro_sum_count;
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_gyro.rotate(_board_orientation);
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_gyro -= _gyro_offset;
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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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bool AP_InertialSensor_PX4::new_data_available(void)
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{
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return num_samples_available() > 0;
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}
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float AP_InertialSensor_PX4::temperature(void)
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{
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return 0.0;
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}
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float AP_InertialSensor_PX4::get_delta_time(void)
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{
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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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{
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return _last_update_usec;
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}
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float AP_InertialSensor_PX4::get_gyro_drift_rate(void)
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{
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// 0.5 degrees/second/minute
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return ToRad(0.5/60);
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}
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uint16_t AP_InertialSensor_PX4::num_samples_available(void)
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{
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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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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(_accel_sum_count, _gyro_sum_count) / _sample_divider;
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}
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#endif // CONFIG_HAL_BOARD
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