mirror of
https://github.com/ArduPilot/ardupilot
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126 lines
3.6 KiB
C++
126 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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#include "AP_InertialSensor.h"
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#include "AP_InertialSensor_Backend.h"
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AP_InertialSensor_Backend::AP_InertialSensor_Backend(AP_InertialSensor &imu) :
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_imu(imu),
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_product_id(AP_PRODUCT_ID_NONE)
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{}
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void AP_InertialSensor_Backend::_rotate_and_correct_accel(uint8_t instance, Vector3f &accel)
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{
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/*
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we rotate before or after offset and scaling based on the
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INS_CALSENSFRAME parameter. This allows us to use older
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calibrations, while making all new calibrations operate in
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sensor frame, and thus be independent of AHRS_ORIENTATION
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*/
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if (_imu._cal_sensor_frame == 0) {
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accel.rotate(_imu._board_orientation);
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}
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// apply scaling
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const Vector3f &accel_scale = _imu._accel_scale[instance].get();
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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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// apply offsets
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accel -= _imu._accel_offset[instance];
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if (_imu._cal_sensor_frame != 0) {
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accel.rotate(_imu._board_orientation);
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}
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}
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void AP_InertialSensor_Backend::_rotate_and_correct_gyro(uint8_t instance, Vector3f &gyro)
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{
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// gyro calibration is always assumed to have been done in sensor frame
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gyro -= _imu._gyro_offset[instance];
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gyro.rotate(_imu._board_orientation);
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}
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void AP_InertialSensor_Backend::_publish_delta_angle(uint8_t instance, const Vector3f &delta_angle)
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{
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// publish delta angle
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_imu._delta_angle[instance] = delta_angle;
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_imu._delta_angle_valid[instance] = true;
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}
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/*
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rotate gyro vector and add the gyro offset
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*/
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void AP_InertialSensor_Backend::_publish_gyro(uint8_t instance, const Vector3f &gyro, bool rotate_and_correct)
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{
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_imu._gyro[instance] = gyro;
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_imu._gyro_healthy[instance] = true;
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if (rotate_and_correct) {
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_rotate_and_correct_gyro(instance, _imu._gyro[instance]);
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}
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}
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void AP_InertialSensor_Backend::_publish_delta_velocity(uint8_t instance, const Vector3f &delta_velocity)
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{
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// publish delta velocity
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_imu._delta_velocity[instance] = delta_velocity;
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_imu._delta_velocity_valid[instance] = true;
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}
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/*
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rotate accel vector, scale and add the accel offset
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*/
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void AP_InertialSensor_Backend::_publish_accel(uint8_t instance, const Vector3f &accel, bool rotate_and_correct)
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{
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_imu._accel[instance] = accel;
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_imu._accel_healthy[instance] = true;
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if (rotate_and_correct) {
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_rotate_and_correct_accel(instance, _imu._accel[instance]);
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}
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}
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// set accelerometer error_count
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void AP_InertialSensor_Backend::_set_accel_error_count(uint8_t instance, uint32_t error_count)
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{
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_imu._accel_error_count[instance] = error_count;
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}
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// set gyro error_count
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void AP_InertialSensor_Backend::_set_gyro_error_count(uint8_t instance, uint32_t error_count)
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{
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_imu._gyro_error_count[instance] = error_count;
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}
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/*
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return the default filter frequency in Hz for the sample rate
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This uses the sample_rate as a proxy for what type of vehicle it is
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(ie. plane and rover run at 50Hz). Copters need a bit more filter
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bandwidth
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*/
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uint8_t AP_InertialSensor_Backend::_default_filter(void) const
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{
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switch (_imu.get_sample_rate()) {
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case AP_InertialSensor::RATE_50HZ:
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// on Rover and plane use a lower filter rate
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return 15;
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case AP_InertialSensor::RATE_100HZ:
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return 30;
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case AP_InertialSensor::RATE_200HZ:
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return 30;
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case AP_InertialSensor::RATE_400HZ:
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return 30;
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}
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return 30;
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}
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// return the requested sample rate in Hz
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uint16_t AP_InertialSensor_Backend::get_sample_rate_hz(void) const
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{
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// enum can be directly cast to Hz
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return (uint16_t)_imu._sample_rate;
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}
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