mirror of https://github.com/ArduPilot/ardupilot
102 lines
2.5 KiB
C++
102 lines
2.5 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include "AP_InertialSensor_HIL.h"
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#include <AP_HAL.h>
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const extern AP_HAL::HAL& hal;
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AP_InertialSensor_HIL::AP_InertialSensor_HIL() : AP_InertialSensor() {
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_accel[0] = Vector3f(0, 0, -GRAVITY_MSS);
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}
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uint16_t AP_InertialSensor_HIL::_init_sensor( Sample_rate sample_rate ) {
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switch (sample_rate) {
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case RATE_50HZ:
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_sample_period_ms = 20;
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break;
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case RATE_100HZ:
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_sample_period_ms = 10;
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break;
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case RATE_200HZ:
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_sample_period_ms = 5;
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break;
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}
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return AP_PRODUCT_ID_NONE;
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}
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/*================ AP_INERTIALSENSOR PUBLIC INTERFACE ==================== */
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bool AP_InertialSensor_HIL::update( void ) {
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uint32_t now = hal.scheduler->millis();
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_delta_time_usec = (now - _last_update_ms) * 1000;
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_last_update_ms = now;
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return true;
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}
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float AP_InertialSensor_HIL::get_delta_time() const {
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return _delta_time_usec * 1.0e-6;
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}
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float AP_InertialSensor_HIL::get_gyro_drift_rate(void) {
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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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bool AP_InertialSensor_HIL::_sample_available()
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{
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uint16_t ret = (hal.scheduler->millis() - _last_update_ms)
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/ _sample_period_ms;
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return ret > 0;
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}
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bool AP_InertialSensor_HIL::wait_for_sample(uint16_t timeout_ms)
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{
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if (_sample_available()) {
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return true;
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}
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uint32_t start = hal.scheduler->millis();
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while ((hal.scheduler->millis() - start) < timeout_ms) {
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hal.scheduler->delay(1);
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if (_sample_available()) {
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return true;
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}
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}
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return false;
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}
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void AP_InertialSensor_HIL::set_accel(const Vector3f &accel)
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{
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_previous_accel[0] = _accel[0];
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_accel[0] = accel;
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_last_accel_usec = hal.scheduler->micros();
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}
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void AP_InertialSensor_HIL::set_gyro(const Vector3f &gyro)
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{
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_gyro[0] = gyro;
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_last_gyro_usec = hal.scheduler->micros();
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}
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/**
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try to detect bad accel/gyro sensors
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*/
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bool AP_InertialSensor_HIL::healthy(void) const
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{
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uint32_t tnow = hal.scheduler->micros();
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if ((tnow - _last_accel_usec) > 40000) {
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// accels have not updated
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return false;
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}
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if ((tnow - _last_gyro_usec) > 40000) {
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// gyros have not updated
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return false;
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}
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if (fabs(_accel[0].x) > 30 && fabs(_accel[0].y) > 30 && fabs(_accel[0].z) > 30 &&
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(_previous_accel[0] - _accel[0]).length() < 0.01f) {
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// unchanging accel, large in all 3 axes. This is a likely
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// accelerometer failure
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return false;
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}
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return true;
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}
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