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ardupilot/APMrover2/sensors.cpp

359 lines
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C++
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#include "Rover.h"
#include <AP_RangeFinder/RangeFinder_Backend.h>
// initialise compass
void Rover::init_compass()
{
if (!g.compass_enabled) {
return;
}
if (!compass.init()|| !compass.read()) {
hal.console->printf("Compass initialisation failed!\n");
g.compass_enabled = false;
} else {
ahrs.set_compass(&compass);
}
}
/*
if the compass is enabled then try to accumulate a reading
also update initial location used for declination
*/
void Rover::compass_accumulate(void)
{
if (!g.compass_enabled) {
return;
}
compass.accumulate();
// update initial location used for declination
if (!compass_init_location) {
Location loc;
if (ahrs.get_position(loc)) {
compass.set_initial_location(loc.lat, loc.lng);
compass_init_location = true;
}
}
}
// init beacons used for non-gps position estimates
void Rover::init_beacon()
{
g2.beacon.init();
}
// init visual odometry sensor
void Rover::init_visual_odom()
{
g2.visual_odom.init();
}
// update visual odometry sensor
void Rover::update_visual_odom()
{
// check for updates
if (g2.visual_odom.enabled() && (g2.visual_odom.get_last_update_ms() != visual_odom_last_update_ms)) {
visual_odom_last_update_ms = g2.visual_odom.get_last_update_ms();
const float time_delta_sec = g2.visual_odom.get_time_delta_usec() / 1000000.0f;
ahrs.writeBodyFrameOdom(g2.visual_odom.get_confidence(),
g2.visual_odom.get_position_delta(),
g2.visual_odom.get_angle_delta(),
time_delta_sec,
visual_odom_last_update_ms,
g2.visual_odom.get_pos_offset());
// log sensor data
DataFlash.Log_Write_VisualOdom(time_delta_sec,
g2.visual_odom.get_angle_delta(),
g2.visual_odom.get_position_delta(),
g2.visual_odom.get_confidence());
}
}
// update wheel encoders
void Rover::update_wheel_encoder()
{
// exit immediately if not enabled
if (g2.wheel_encoder.num_sensors() == 0) {
return;
}
// update encoders
g2.wheel_encoder.update();
// initialise on first iteration
const uint32_t now = AP_HAL::millis();
if (wheel_encoder_last_ekf_update_ms == 0) {
wheel_encoder_last_ekf_update_ms = now;
for (uint8_t i = 0; i < g2.wheel_encoder.num_sensors(); i++) {
wheel_encoder_last_angle_rad[i] = g2.wheel_encoder.get_delta_angle(i);
wheel_encoder_last_update_ms[i] = g2.wheel_encoder.get_last_reading_ms(i);
}
return;
}
// calculate delta angle and delta time and send to EKF
// use time of last ping from wheel encoder
// send delta time (time between this wheel encoder time and previous wheel encoder time)
// in case where wheel hasn't moved, count = 0 (cap the delta time at 50ms - or system time)
// use system clock of last update instead of time of last ping
const float system_dt = (now - wheel_encoder_last_ekf_update_ms) / 1000.0f;
for (uint8_t i = 0; i < g2.wheel_encoder.num_sensors(); i++) {
// calculate angular change (in radians)
const float curr_angle_rad = g2.wheel_encoder.get_delta_angle(i);
const float delta_angle = curr_angle_rad - wheel_encoder_last_angle_rad[i];
wheel_encoder_last_angle_rad[i] = curr_angle_rad;
// calculate delta time
float delta_time;
const uint32_t latest_sensor_update_ms = g2.wheel_encoder.get_last_reading_ms(i);
const uint32_t sensor_diff_ms = latest_sensor_update_ms - wheel_encoder_last_update_ms[i];
// if we have not received any sensor updates, or time difference is too high then use time since last update to the ekf
// check for old or insane sensor update times
if (sensor_diff_ms == 0 || sensor_diff_ms > 100) {
delta_time = system_dt;
wheel_encoder_last_update_ms[i] = wheel_encoder_last_ekf_update_ms;
} else {
delta_time = sensor_diff_ms / 1000.0f;
wheel_encoder_last_update_ms[i] = latest_sensor_update_ms;
}
/* delAng is the measured change in angular position from the previous measurement where a positive rotation is produced by forward motion of the vehicle (rad)
* delTime is the time interval for the measurement of delAng (sec)
* timeStamp_ms is the time when the rotation was last measured (msec)
* posOffset is the XYZ body frame position of the wheel hub (m)
*/
EKF3.writeWheelOdom(delta_angle, delta_time, wheel_encoder_last_update_ms[i], g2.wheel_encoder.get_position(i), g2.wheel_encoder.get_wheel_radius(i));
// calculate rpm for reporting to GCS
if (is_positive(delta_time)) {
wheel_encoder_rpm[i] = (delta_angle / M_2PI) / (delta_time / 60.0f);
} else {
wheel_encoder_rpm[i] = 0.0f;
}
}
// record system time update for next iteration
wheel_encoder_last_ekf_update_ms = now;
}
// Calibrate compass
void Rover::compass_cal_update() {
if (!hal.util->get_soft_armed()) {
compass.compass_cal_update();
}
}
// Save compass offsets
void Rover::compass_save() {
if (g.compass_enabled &&
compass.get_learn_type() >= Compass::LEARN_INTERNAL &&
!arming.is_armed()) {
compass.save_offsets();
}
}
// Accel calibration
void Rover::accel_cal_update() {
if (hal.util->get_soft_armed()) {
return;
}
ins.acal_update();
// check if new trim values, and set them float trim_roll, trim_pitch;
float trim_roll, trim_pitch;
if (ins.get_new_trim(trim_roll, trim_pitch)) {
ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
}
}
// read the rangefinders
void Rover::read_rangefinders(void)
{
rangefinder.update();
AP_RangeFinder_Backend *s0 = rangefinder.get_backend(0);
AP_RangeFinder_Backend *s1 = rangefinder.get_backend(1);
if (s0 == nullptr || s0->status() == RangeFinder::RangeFinder_NotConnected) {
// this makes it possible to disable rangefinder at runtime
return;
}
if (s1 != nullptr && s1->has_data()) {
// we have two rangefinders
obstacle.rangefinder1_distance_cm = s0->distance_cm();
obstacle.rangefinder2_distance_cm = s1->distance_cm();
if (obstacle.rangefinder1_distance_cm < static_cast<uint16_t>(g.rangefinder_trigger_cm) &&
obstacle.rangefinder1_distance_cm < static_cast<uint16_t>(obstacle.rangefinder2_distance_cm)) {
// we have an object on the left
if (obstacle.detected_count < 127) {
obstacle.detected_count++;
}
if (obstacle.detected_count == g.rangefinder_debounce) {
gcs().send_text(MAV_SEVERITY_INFO, "Rangefinder1 obstacle %u cm",
static_cast<uint32_t>(obstacle.rangefinder1_distance_cm));
}
obstacle.detected_time_ms = AP_HAL::millis();
obstacle.turn_angle = g.rangefinder_turn_angle;
} else if (obstacle.rangefinder2_distance_cm < static_cast<uint16_t>(g.rangefinder_trigger_cm)) {
// we have an object on the right
if (obstacle.detected_count < 127) {
obstacle.detected_count++;
}
if (obstacle.detected_count == g.rangefinder_debounce) {
gcs().send_text(MAV_SEVERITY_INFO, "Rangefinder2 obstacle %u cm",
static_cast<uint32_t>(obstacle.rangefinder2_distance_cm));
}
obstacle.detected_time_ms = AP_HAL::millis();
obstacle.turn_angle = -g.rangefinder_turn_angle;
}
} else {
// we have a single rangefinder
obstacle.rangefinder1_distance_cm = s0->distance_cm();
obstacle.rangefinder2_distance_cm = 0;
if (obstacle.rangefinder1_distance_cm < static_cast<uint16_t>(g.rangefinder_trigger_cm)) {
// obstacle detected in front
if (obstacle.detected_count < 127) {
obstacle.detected_count++;
}
if (obstacle.detected_count == g.rangefinder_debounce) {
gcs().send_text(MAV_SEVERITY_INFO, "Rangefinder obstacle %u cm",
static_cast<uint32_t>(obstacle.rangefinder1_distance_cm));
}
obstacle.detected_time_ms = AP_HAL::millis();
obstacle.turn_angle = g.rangefinder_turn_angle;
}
}
Log_Write_Rangefinder();
Log_Write_Depth();
// no object detected - reset after the turn time
if (obstacle.detected_count >= g.rangefinder_debounce &&
AP_HAL::millis() > obstacle.detected_time_ms + g.rangefinder_turn_time*1000) {
gcs().send_text(MAV_SEVERITY_INFO, "Obstacle passed");
obstacle.detected_count = 0;
obstacle.turn_angle = 0;
}
}
// initialise proximity sensor
void Rover::init_proximity(void)
{
g2.proximity.init();
g2.proximity.set_rangefinder(&rangefinder);
}
// update error mask of sensors and subsystems. The mask
// uses the MAV_SYS_STATUS_* values from mavlink. If a bit is set
// then it indicates that the sensor or subsystem is present but
// not functioning correctly.
void Rover::update_sensor_status_flags(void)
{
// default sensors present
control_sensors_present = MAVLINK_SENSOR_PRESENT_DEFAULT;
// first what sensors/controllers we have
if (g.compass_enabled) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_MAG; // compass present
}
if (gps.status() > AP_GPS::NO_GPS) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_GPS;
}
if (g2.visual_odom.enabled()) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
}
if (rover.DataFlash.logging_present()) { // primary logging only (usually File)
control_sensors_present |= MAV_SYS_STATUS_LOGGING;
}
if (rover.g2.proximity.get_status() > AP_Proximity::Proximity_NotConnected) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
}
// all present sensors enabled by default except rate control, attitude stabilization, yaw, altitude, position control and motor output which we will set individually
control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL &
~MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION &
~MAV_SYS_STATUS_SENSOR_YAW_POSITION &
~MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL &
~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS &
~MAV_SYS_STATUS_LOGGING &
~MAV_SYS_STATUS_SENSOR_BATTERY);
if (control_mode->attitude_stabilized()) {
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // 3D angular rate control
}
if (control_mode->is_autopilot_mode()) {
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_YAW_POSITION; // yaw position
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; // X/Y position control
}
if (rover.DataFlash.logging_enabled()) {
control_sensors_enabled |= MAV_SYS_STATUS_LOGGING;
}
// set motors outputs as enabled if safety switch is not disarmed (i.e. either NONE or ARMED)
if (hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED) {
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS;
}
if (battery.num_instances() > 0) {
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_BATTERY;
}
// default to all healthy except compass and gps which we set individually
control_sensors_health = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_3D_MAG & ~MAV_SYS_STATUS_SENSOR_GPS);
if (g.compass_enabled && compass.healthy(0) && ahrs.use_compass()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG;
}
if (gps.is_healthy()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
}
if (g2.visual_odom.enabled() && !g2.visual_odom.healthy()) {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_VISION_POSITION;
}
if (!ins.get_gyro_health_all() || !ins.gyro_calibrated_ok_all()) {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_GYRO;
}
if (!ins.get_accel_health_all()) {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_ACCEL;
}
if (ahrs.initialised() && !ahrs.healthy()) {
// AHRS subsystem is unhealthy
control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
}
if (rangefinder.num_sensors() > 0) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
AP_RangeFinder_Backend *s = rangefinder.get_backend(0);
if (s != nullptr && s->has_data()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
}
}
if (rover.g2.proximity.get_status() == AP_Proximity::Proximity_NoData) {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_LASER_POSITION;
}
if (rover.DataFlash.logging_failed()) {
control_sensors_health &= ~MAV_SYS_STATUS_LOGGING;
}
if (!battery.healthy() || battery.has_failsafed()) {
control_sensors_enabled &= ~MAV_SYS_STATUS_SENSOR_BATTERY;
}
if (!initialised || ins.calibrating()) {
// while initialising the gyros and accels are not enabled
control_sensors_enabled &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
control_sensors_health &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
}
#if FRSKY_TELEM_ENABLED == ENABLED
// give mask of error flags to Frsky_Telemetry
frsky_telemetry.update_sensor_status_flags(~control_sensors_health & control_sensors_enabled & control_sensors_present);
#endif
}
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