mirror of https://github.com/ArduPilot/ardupilot
169 lines
4.3 KiB
C++
169 lines
4.3 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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#include <uORB/uORB.h>
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#include <uORB/topics/sensor_combined.h>
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uint16_t AP_InertialSensor_PX4::_init_sensor( Sample_rate sample_rate ) {
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uint16_t rate_hz;
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int fd;
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switch (sample_rate) {
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case RATE_50HZ:
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rate_hz = 50;
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break;
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case RATE_100HZ:
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rate_hz = 100;
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break;
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case RATE_200HZ:
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default:
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rate_hz = 200;
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break;
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}
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// init accelerometers
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fd = open(ACCEL_DEVICE_PATH, 0);
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if (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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/* set the accel internal sampling rate */
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ioctl(fd, ACCELIOCSSAMPLERATE, rate_hz);
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/* set the driver poll rate */
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ioctl(fd, SENSORIOCSPOLLRATE, rate_hz);
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close(fd);
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_accel_sub = orb_subscribe(ORB_ID(sensor_accel));
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// init gyros
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fd = open(GYRO_DEVICE_PATH, 0);
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if (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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/* set the gyro internal sampling rate */
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ioctl(fd, GYROIOCSSAMPLERATE, rate_hz);
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/* set the driver poll rate */
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ioctl(fd, SENSORIOCSPOLLRATE, rate_hz);
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close(fd);
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_gyro_sub = orb_subscribe(ORB_ID(sensor_gyro));
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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_microseconds(1);
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}
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uint32_t now = hal.scheduler->micros();
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_delta_time_usec = now - _last_update_usec;
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_last_update_usec = now;
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Vector3f accel_scale = _accel_scale.get();
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_accel.x = accel_scale.x * _raw_sensors.accelerometer_m_s2[0] / _raw_sensors.accelerometer_counter;
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_accel.y = - accel_scale.y * _raw_sensors.accelerometer_m_s2[1] / _raw_sensors.accelerometer_counter;
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_accel.z = - accel_scale.z * _raw_sensors.accelerometer_m_s2[2] / _raw_sensors.accelerometer_counter;
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_accel -= _accel_offset;
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_gyro.x = _raw_sensors.gyro_rad_s[0] / _raw_sensors.gyro_counter;
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_gyro.y = - _raw_sensors.gyro_rad_s[1] / _raw_sensors.gyro_counter;
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_gyro.z = - _raw_sensors.gyro_rad_s[2] / _raw_sensors.gyro_counter;
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_gyro -= _gyro_offset;
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memset(&_raw_sensors, 0, sizeof(_raw_sensors));
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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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uint32_t AP_InertialSensor_PX4::get_delta_time_micros(void)
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{
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return _delta_time_usec;
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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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bool accel_updated=false;
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bool gyro_updated =false;
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orb_check(_accel_sub, &accel_updated);
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if (accel_updated) {
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struct accel_report accel_report;
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orb_copy(ORB_ID(sensor_accel), _accel_sub, &accel_report);
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_raw_sensors.accelerometer_m_s2[0] += accel_report.x;
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_raw_sensors.accelerometer_m_s2[1] += accel_report.y;
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_raw_sensors.accelerometer_m_s2[2] += accel_report.z;
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_raw_sensors.accelerometer_raw[0] = accel_report.x_raw;
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_raw_sensors.accelerometer_raw[1] = accel_report.y_raw;
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_raw_sensors.accelerometer_raw[2] = accel_report.z_raw;
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_raw_sensors.accelerometer_counter++;
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}
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orb_check(_gyro_sub, &gyro_updated);
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if (gyro_updated) {
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struct gyro_report gyro_report;
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orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &gyro_report);
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_raw_sensors.gyro_rad_s[0] += gyro_report.x;
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_raw_sensors.gyro_rad_s[1] += gyro_report.y;
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_raw_sensors.gyro_rad_s[2] += gyro_report.z;
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_raw_sensors.gyro_raw[0] = gyro_report.x_raw;
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_raw_sensors.gyro_raw[1] = gyro_report.y_raw;
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_raw_sensors.gyro_raw[2] = gyro_report.z_raw;
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_raw_sensors.gyro_counter++;
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}
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return min(_raw_sensors.accelerometer_counter, _raw_sensors.gyro_counter);
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}
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#endif // CONFIG_HAL_BOARD
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