mirror of https://github.com/ArduPilot/ardupilot
316 lines
9.9 KiB
C++
316 lines
9.9 KiB
C++
#include <AP_HAL/AP_HAL.h>
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#include "AP_InertialSensor.h"
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#include "AP_InertialSensor_Backend.h"
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#include <DataFlash/DataFlash.h>
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#include <AP_Module/AP_Module.h>
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const extern AP_HAL::HAL& hal;
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AP_InertialSensor_Backend::AP_InertialSensor_Backend(AP_InertialSensor &imu) :
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_imu(imu)
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{
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_sem = hal.util->new_semaphore();
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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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accel calibration is always done in sensor frame with this
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version of the code. That means we apply the rotation after the
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offsets and scaling.
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*/
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// rotate for sensor orientation
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accel.rotate(_imu._accel_orientation[instance]);
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// apply offsets
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accel -= _imu._accel_offset[instance];
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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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// rotate to body frame
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accel.rotate(_imu._board_orientation);
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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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// rotate for sensor orientation
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gyro.rotate(_imu._gyro_orientation[instance]);
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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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/*
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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)
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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 (_imu._gyro_raw_sample_rates[instance] <= 0) {
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return;
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}
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// publish delta angle
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_imu._delta_angle[instance] = _imu._delta_angle_acc[instance];
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_imu._delta_angle_dt[instance] = _imu._delta_angle_acc_dt[instance];
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_imu._delta_angle_valid[instance] = true;
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}
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void AP_InertialSensor_Backend::_notify_new_gyro_raw_sample(uint8_t instance,
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const Vector3f &gyro,
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uint64_t sample_us)
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{
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float dt;
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if (_imu._gyro_raw_sample_rates[instance] <= 0) {
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return;
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}
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dt = 1.0f / _imu._gyro_raw_sample_rates[instance];
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// call gyro_sample hook if any
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AP_Module::call_hook_gyro_sample(instance, dt, gyro);
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// push gyros if optical flow present
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if (hal.opticalflow)
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hal.opticalflow->push_gyro(gyro.x, gyro.y, dt);
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// compute delta angle
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Vector3f delta_angle = (gyro + _imu._last_raw_gyro[instance]) * 0.5f * dt;
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// compute coning correction
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// see page 26 of:
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// Tian et al (2010) Three-loop Integration of GPS and Strapdown INS with Coning and Sculling Compensation
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// Available: http://www.sage.unsw.edu.au/snap/publications/tian_etal2010b.pdf
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// see also examples/coning.py
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Vector3f delta_coning = (_imu._delta_angle_acc[instance] +
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_imu._last_delta_angle[instance] * (1.0f / 6.0f));
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delta_coning = delta_coning % delta_angle;
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delta_coning *= 0.5f;
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if (_sem->take(0)) {
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// integrate delta angle accumulator
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// the angles and coning corrections are accumulated separately in the
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// referenced paper, but in simulation little difference was found between
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// integrating together and integrating separately (see examples/coning.py)
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_imu._delta_angle_acc[instance] += delta_angle + delta_coning;
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_imu._delta_angle_acc_dt[instance] += dt;
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// save previous delta angle for coning correction
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_imu._last_delta_angle[instance] = delta_angle;
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_imu._last_raw_gyro[instance] = gyro;
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_imu._gyro_filtered[instance] = _imu._gyro_filter[instance].apply(gyro);
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if (_imu._gyro_filtered[instance].is_nan() || _imu._gyro_filtered[instance].is_inf()) {
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_imu._gyro_filter[instance].reset();
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}
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_imu._new_gyro_data[instance] = true;
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_sem->give();
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}
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DataFlash_Class *dataflash = get_dataflash();
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if (dataflash != nullptr) {
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uint64_t now = AP_HAL::micros64();
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struct log_GYRO pkt = {
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LOG_PACKET_HEADER_INIT((uint8_t)(LOG_GYR1_MSG+instance)),
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time_us : now,
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sample_us : sample_us?sample_us:now,
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GyrX : gyro.x,
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GyrY : gyro.y,
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GyrZ : gyro.z
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};
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dataflash->WriteBlock(&pkt, sizeof(pkt));
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}
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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)
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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 (_imu._accel_raw_sample_rates[instance] <= 0) {
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return;
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}
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// publish delta velocity
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_imu._delta_velocity[instance] = _imu._delta_velocity_acc[instance];
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_imu._delta_velocity_dt[instance] = _imu._delta_velocity_acc_dt[instance];
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_imu._delta_velocity_valid[instance] = true;
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if (_imu._accel_calibrator != nullptr && _imu._accel_calibrator[instance].get_status() == ACCEL_CAL_COLLECTING_SAMPLE) {
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Vector3f cal_sample = _imu._delta_velocity[instance];
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//remove rotation
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cal_sample.rotate_inverse(_imu._board_orientation);
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// remove scale factors
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const Vector3f &accel_scale = _imu._accel_scale[instance].get();
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cal_sample.x /= accel_scale.x;
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cal_sample.y /= accel_scale.y;
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cal_sample.z /= accel_scale.z;
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//remove offsets
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cal_sample += _imu._accel_offset[instance].get() * _imu._delta_velocity_dt[instance] ;
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_imu._accel_calibrator[instance].new_sample(cal_sample, _imu._delta_velocity_dt[instance]);
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}
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}
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void AP_InertialSensor_Backend::_notify_new_accel_raw_sample(uint8_t instance,
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const Vector3f &accel,
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uint64_t sample_us,
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bool fsync_set)
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{
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float dt;
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if (_imu._accel_raw_sample_rates[instance] <= 0) {
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return;
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}
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dt = 1.0f / _imu._accel_raw_sample_rates[instance];
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// call gyro_sample hook if any
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AP_Module::call_hook_accel_sample(instance, dt, accel, fsync_set);
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_imu.calc_vibration_and_clipping(instance, accel, dt);
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if (_sem->take(0)) {
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// delta velocity
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_imu._delta_velocity_acc[instance] += accel * dt;
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_imu._delta_velocity_acc_dt[instance] += dt;
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_imu._accel_filtered[instance] = _imu._accel_filter[instance].apply(accel);
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if (_imu._accel_filtered[instance].is_nan() || _imu._accel_filtered[instance].is_inf()) {
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_imu._accel_filter[instance].reset();
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}
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_imu.set_accel_peak_hold(instance, _imu._accel_filtered[instance]);
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_imu._new_accel_data[instance] = true;
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_sem->give();
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}
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DataFlash_Class *dataflash = get_dataflash();
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if (dataflash != nullptr) {
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uint64_t now = AP_HAL::micros64();
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struct log_ACCEL pkt = {
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LOG_PACKET_HEADER_INIT((uint8_t)(LOG_ACC1_MSG+instance)),
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time_us : now,
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sample_us : sample_us?sample_us:now,
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AccX : accel.x,
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AccY : accel.y,
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AccZ : accel.z
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};
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dataflash->WriteBlock(&pkt, sizeof(pkt));
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}
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}
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void AP_InertialSensor_Backend::_set_accel_max_abs_offset(uint8_t instance,
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float max_offset)
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{
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_imu._accel_max_abs_offsets[instance] = max_offset;
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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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// increment accelerometer error_count
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void AP_InertialSensor_Backend::_inc_accel_error_count(uint8_t instance)
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{
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_imu._accel_error_count[instance]++;
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}
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// increment gyro error_count
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void AP_InertialSensor_Backend::_inc_gyro_error_count(uint8_t instance)
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{
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_imu._gyro_error_count[instance]++;
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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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/*
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publish a temperature value for an instance
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*/
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void AP_InertialSensor_Backend::_publish_temperature(uint8_t instance, float temperature)
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{
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_imu._temperature[instance] = temperature;
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/* give the temperature to the control loop in order to keep it constant*/
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if (instance == 0) {
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hal.util->set_imu_temp(temperature);
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}
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}
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/*
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common gyro update function for all backends
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*/
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void AP_InertialSensor_Backend::update_gyro(uint8_t instance)
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{
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if (!_sem->take(0)) {
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return;
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}
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if (_imu._new_gyro_data[instance]) {
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_publish_gyro(instance, _imu._gyro_filtered[instance]);
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_imu._new_gyro_data[instance] = false;
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}
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// possibly update filter frequency
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if (_last_gyro_filter_hz[instance] != _gyro_filter_cutoff()) {
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_imu._gyro_filter[instance].set_cutoff_frequency(_gyro_raw_sample_rate(instance), _gyro_filter_cutoff());
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_last_gyro_filter_hz[instance] = _gyro_filter_cutoff();
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}
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_sem->give();
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}
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/*
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common accel update function for all backends
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*/
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void AP_InertialSensor_Backend::update_accel(uint8_t instance)
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{
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if (!_sem->take(0)) {
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return;
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}
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if (_imu._new_accel_data[instance]) {
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_publish_accel(instance, _imu._accel_filtered[instance]);
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_imu._new_accel_data[instance] = false;
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}
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// possibly update filter frequency
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if (_last_accel_filter_hz[instance] != _accel_filter_cutoff()) {
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_imu._accel_filter[instance].set_cutoff_frequency(_accel_raw_sample_rate(instance), _accel_filter_cutoff());
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_last_accel_filter_hz[instance] = _accel_filter_cutoff();
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}
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_sem->give();
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}
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