forked from Archive/PX4-Autopilot
voted_sensors_update: refactor to camelCase function names
This commit is contained in:
Matthias Grob
Lorenz Meier
parent
89a0a3acb6
commit
161429f8c6
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@ -220,7 +220,7 @@ class Graph(object):
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# (the expectation is that the previous matching ORB_ID() will be passed
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# to this, so that we can ignore it)
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special_cases_sub = [
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('sensors', r'voted_sensors_update\.cpp$', r'\binit_sensor_class\b\(([^,)]+)', r'^meta$'),
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('sensors', r'voted_sensors_update\.cpp$', r'\binitSensorClass\b\(([^,)]+)', r'^meta$'),
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('mavlink', r'.*', r'\badd_orb_subscription\b\(([^,)]+)', r'^_topic$'),
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('listener', r'.*', None, r'^(id)$'),
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('logger', r'.*', None, r'^(topic|sub\.metadata|_polling_topic_meta)$'),
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@ -243,7 +243,7 @@ class Graph(object):
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special_cases_pub = [
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('replay', r'replay_main\.cpp$', None, r'^sub\.orb_meta$'),
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('fw_pos_control_l1', r'FixedwingPositionControl\.cpp$', r'\b_attitude_setpoint_id=([^,)]+)', r'^_attitude_setpoint_id$'),
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('mc_pos_control', r'mc_pos_control_main\.cpp$', r'\b_attitude_setpoint_id=([^,)]+)', r'^_attitude_setpoint_id$'),
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('mc_att_control', r'mc_att_control_main\.cpp$', r'\b_actuators_id=([^,)]+)', r'^_actuators_id$'),
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@ -286,7 +286,7 @@ Sensors::parameters_update()
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}
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_rc_update.update_rc_functions();
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_voted_sensors_update.parameters_update();
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_voted_sensors_update.parametersUpdate();
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return ret;
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}
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@ -589,7 +589,7 @@ Sensors::run()
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parameter_update_poll(true);
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/* get a set of initial values */
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_voted_sensors_update.sensors_poll(raw, airdata, magnetometer);
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_voted_sensors_update.sensorsPoll(raw, airdata, magnetometer);
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diff_pres_poll(airdata);
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@ -606,7 +606,7 @@ Sensors::run()
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while (!should_exit()) {
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/* use the best-voted gyro to pace output */
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poll_fds.fd = _voted_sensors_update.best_gyro_fd();
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poll_fds.fd = _voted_sensors_update.bestGyroFd();
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/* wait for up to 50ms for data (Note that this implies, we can have a fail-over time of 50ms,
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* if a gyro fails) */
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@ -620,8 +620,8 @@ Sensors::run()
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/* if the polling operation failed because no gyro sensor is available yet,
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* then attempt to subscribe once again
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*/
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if (_voted_sensors_update.num_gyros() == 0) {
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_voted_sensors_update.initialize_sensors();
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if (_voted_sensors_update.numGyros() == 0) {
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_voted_sensors_update.initializeSensors();
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}
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px4_usleep(1000);
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@ -637,12 +637,12 @@ Sensors::run()
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_armed = vcontrol_mode.flag_armed;
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}
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/* the timestamp of the raw struct is updated by the gyro_poll() method (this makes the gyro
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/* the timestamp of the raw struct is updated by the gyroPoll() method (this makes the gyro
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* a mandatory sensor) */
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const uint64_t airdata_prev_timestamp = airdata.timestamp;
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const uint64_t magnetometer_prev_timestamp = magnetometer.timestamp;
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_voted_sensors_update.sensors_poll(raw, airdata, magnetometer);
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_voted_sensors_update.sensorsPoll(raw, airdata, magnetometer);
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/* check battery voltage */
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adc_poll();
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@ -651,7 +651,7 @@ Sensors::run()
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if (raw.timestamp > 0) {
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_voted_sensors_update.set_relative_timestamps(raw);
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_voted_sensors_update.setRelativeTimestamps(raw);
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int instance;
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orb_publish_auto(ORB_ID(sensor_combined), &_sensor_pub, &raw, &instance, ORB_PRIO_DEFAULT);
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@ -664,15 +664,15 @@ Sensors::run()
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orb_publish_auto(ORB_ID(vehicle_magnetometer), &_magnetometer_pub, &magnetometer, &instance, ORB_PRIO_DEFAULT);
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}
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_voted_sensors_update.check_failover();
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_voted_sensors_update.checkFailover();
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/* If the the vehicle is disarmed calculate the length of the maximum difference between
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* IMU units as a consistency metric and publish to the sensor preflight topic
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*/
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if (!_armed) {
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preflt.timestamp = hrt_absolute_time();
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_voted_sensors_update.calc_accel_inconsistency(preflt);
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_voted_sensors_update.calc_gyro_inconsistency(preflt);
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_voted_sensors_update.calcAccelInconsistency(preflt);
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_voted_sensors_update.calcGyroInconsistency(preflt);
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_voted_sensors_update.calcMagInconsistency(preflt);
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orb_publish(ORB_ID(sensor_preflight), _sensor_preflight, &preflt);
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}
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@ -682,7 +682,7 @@ Sensors::run()
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* when not adding sensors poll for param updates
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*/
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if (!_armed && hrt_elapsed_time(&last_config_update) > 500_ms) {
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_voted_sensors_update.initialize_sensors();
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_voted_sensors_update.initializeSensors();
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last_config_update = hrt_absolute_time();
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} else {
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@ -735,7 +735,7 @@ int Sensors::task_spawn(int argc, char *argv[])
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int Sensors::print_status()
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{
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_voted_sensors_update.print_status();
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_voted_sensors_update.printStatus();
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PX4_INFO("Airspeed status:");
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_airspeed_validator.print();
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@ -95,7 +95,7 @@ int VotedSensorsUpdate::init(sensor_combined_s &raw)
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raw.accelerometer_timestamp_relative = sensor_combined_s::RELATIVE_TIMESTAMP_INVALID;
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raw.timestamp = 0;
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initialize_sensors();
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initializeSensors();
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_corrections_changed = true; //make sure to initially publish the corrections topic
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_selection_changed = true;
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@ -103,12 +103,12 @@ int VotedSensorsUpdate::init(sensor_combined_s &raw)
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return 0;
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}
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void VotedSensorsUpdate::initialize_sensors()
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void VotedSensorsUpdate::initializeSensors()
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{
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init_sensor_class(ORB_ID(sensor_gyro), _gyro, GYRO_COUNT_MAX);
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init_sensor_class(ORB_ID(sensor_mag), _mag, MAG_COUNT_MAX);
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init_sensor_class(ORB_ID(sensor_accel), _accel, ACCEL_COUNT_MAX);
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init_sensor_class(ORB_ID(sensor_baro), _baro, BARO_COUNT_MAX);
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initSensorClass(ORB_ID(sensor_gyro), _gyro, GYRO_COUNT_MAX);
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initSensorClass(ORB_ID(sensor_mag), _mag, MAG_COUNT_MAX);
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initSensorClass(ORB_ID(sensor_accel), _accel, ACCEL_COUNT_MAX);
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initSensorClass(ORB_ID(sensor_baro), _baro, BARO_COUNT_MAX);
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}
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void VotedSensorsUpdate::deinit()
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@ -130,7 +130,7 @@ void VotedSensorsUpdate::deinit()
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}
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}
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void VotedSensorsUpdate::parameters_update()
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void VotedSensorsUpdate::parametersUpdate()
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{
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/* fine tune board offset */
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Dcmf board_rotation_offset = Eulerf(
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@ -279,7 +279,7 @@ void VotedSensorsUpdate::parameters_update()
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} else {
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/* apply new scaling and offsets */
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config_ok = apply_gyro_calibration(h, &gscale, device_id);
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config_ok = applyGyroCalibration(h, &gscale, device_id);
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if (!config_ok) {
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PX4_ERR(CAL_ERROR_APPLY_CAL_MSG, "gyro ", i);
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@ -367,7 +367,7 @@ void VotedSensorsUpdate::parameters_update()
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} else {
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/* apply new scaling and offsets */
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config_ok = apply_accel_calibration(h, &ascale, device_id);
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config_ok = applyAccelCalibration(h, &ascale, device_id);
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if (!config_ok) {
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PX4_ERR(CAL_ERROR_APPLY_CAL_MSG, "accel ", i);
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@ -512,7 +512,7 @@ void VotedSensorsUpdate::parameters_update()
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} else {
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/* apply new scaling and offsets */
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config_ok = apply_mag_calibration(h, &mscale, device_id);
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config_ok = applyMagCalibration(h, &mscale, device_id);
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if (!config_ok) {
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PX4_ERR(CAL_ERROR_APPLY_CAL_MSG, "mag ", i);
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@ -526,7 +526,7 @@ void VotedSensorsUpdate::parameters_update()
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}
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void VotedSensorsUpdate::accel_poll(struct sensor_combined_s &raw)
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void VotedSensorsUpdate::accelPoll(struct sensor_combined_s &raw)
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{
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float *offsets[] = {_corrections.accel_offset_0, _corrections.accel_offset_1, _corrections.accel_offset_2 };
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float *scales[] = {_corrections.accel_scale_0, _corrections.accel_scale_1, _corrections.accel_scale_2 };
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@ -633,7 +633,7 @@ void VotedSensorsUpdate::accel_poll(struct sensor_combined_s &raw)
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}
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}
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void VotedSensorsUpdate::gyro_poll(struct sensor_combined_s &raw)
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void VotedSensorsUpdate::gyroPoll(struct sensor_combined_s &raw)
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{
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float *offsets[] = {_corrections.gyro_offset_0, _corrections.gyro_offset_1, _corrections.gyro_offset_2 };
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float *scales[] = {_corrections.gyro_scale_0, _corrections.gyro_scale_1, _corrections.gyro_scale_2 };
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@ -741,7 +741,7 @@ void VotedSensorsUpdate::gyro_poll(struct sensor_combined_s &raw)
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}
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}
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void VotedSensorsUpdate::mag_poll(vehicle_magnetometer_s &magnetometer)
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void VotedSensorsUpdate::magPoll(vehicle_magnetometer_s &magnetometer)
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{
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for (int uorb_index = 0; uorb_index < _mag.subscription_count; uorb_index++) {
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bool mag_updated;
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@ -767,7 +767,7 @@ void VotedSensorsUpdate::mag_poll(vehicle_magnetometer_s &magnetometer)
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_mag.priority[uorb_index] = (uint8_t)priority;
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/* force a scale and offset update the first time we get data */
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parameters_update();
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parametersUpdate();
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}
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Vector3f vect(mag_report.x, mag_report.y, mag_report.z);
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@ -796,7 +796,7 @@ void VotedSensorsUpdate::mag_poll(vehicle_magnetometer_s &magnetometer)
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}
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}
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void VotedSensorsUpdate::baro_poll(vehicle_air_data_s &airdata)
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void VotedSensorsUpdate::baroPoll(vehicle_air_data_s &airdata)
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{
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bool got_update = false;
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float *offsets[] = {&_corrections.baro_offset_0, &_corrections.baro_offset_1, &_corrections.baro_offset_2 };
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@ -895,7 +895,7 @@ void VotedSensorsUpdate::baro_poll(vehicle_air_data_s &airdata)
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}
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}
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bool VotedSensorsUpdate::check_failover(SensorData &sensor, const char *sensor_name, const uint64_t type)
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bool VotedSensorsUpdate::checkFailover(SensorData &sensor, const char *sensor_name, const uint64_t type)
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{
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if (sensor.last_failover_count != sensor.voter.failover_count() && !_hil_enabled) {
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@ -964,7 +964,7 @@ bool VotedSensorsUpdate::check_failover(SensorData &sensor, const char *sensor_n
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return false;
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}
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void VotedSensorsUpdate::init_sensor_class(const struct orb_metadata *meta, SensorData &sensor_data,
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void VotedSensorsUpdate::initSensorClass(const struct orb_metadata *meta, SensorData &sensor_data,
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uint8_t sensor_count_max)
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{
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int max_sensor_index = -1;
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@ -994,7 +994,7 @@ void VotedSensorsUpdate::init_sensor_class(const struct orb_metadata *meta, Sens
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}
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}
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void VotedSensorsUpdate::print_status()
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void VotedSensorsUpdate::printStatus()
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{
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PX4_INFO("gyro status:");
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_gyro.voter.print();
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@ -1009,7 +1009,7 @@ void VotedSensorsUpdate::print_status()
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}
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bool
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VotedSensorsUpdate::apply_gyro_calibration(DevHandle &h, const struct gyro_calibration_s *gcal, const int device_id)
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VotedSensorsUpdate::applyGyroCalibration(DevHandle &h, const struct gyro_calibration_s *gcal, const int device_id)
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{
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#if defined(__PX4_NUTTX)
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@ -1023,7 +1023,7 @@ VotedSensorsUpdate::apply_gyro_calibration(DevHandle &h, const struct gyro_calib
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}
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bool
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VotedSensorsUpdate::apply_accel_calibration(DevHandle &h, const struct accel_calibration_s *acal, const int device_id)
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VotedSensorsUpdate::applyAccelCalibration(DevHandle &h, const struct accel_calibration_s *acal, const int device_id)
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{
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#if defined(__PX4_NUTTX)
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@ -1037,7 +1037,7 @@ VotedSensorsUpdate::apply_accel_calibration(DevHandle &h, const struct accel_cal
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}
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bool
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VotedSensorsUpdate::apply_mag_calibration(DevHandle &h, const struct mag_calibration_s *mcal, const int device_id)
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VotedSensorsUpdate::applyMagCalibration(DevHandle &h, const struct mag_calibration_s *mcal, const int device_id)
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{
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#if defined(__PX4_NUTTX)
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@ -1054,13 +1054,13 @@ VotedSensorsUpdate::apply_mag_calibration(DevHandle &h, const struct mag_calibra
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#endif
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}
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void VotedSensorsUpdate::sensors_poll(sensor_combined_s &raw, vehicle_air_data_s &airdata,
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vehicle_magnetometer_s &magnetometer)
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void VotedSensorsUpdate::sensorsPoll(sensor_combined_s &raw, vehicle_air_data_s &airdata,
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vehicle_magnetometer_s &magnetometer)
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{
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accel_poll(raw);
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gyro_poll(raw);
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mag_poll(magnetometer);
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baro_poll(airdata);
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accelPoll(raw);
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gyroPoll(raw);
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magPoll(magnetometer);
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baroPoll(airdata);
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// publish sensor corrections if necessary
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if (_corrections_changed) {
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@ -1091,15 +1091,15 @@ void VotedSensorsUpdate::sensors_poll(sensor_combined_s &raw, vehicle_air_data_s
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}
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}
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void VotedSensorsUpdate::check_failover()
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void VotedSensorsUpdate::checkFailover()
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{
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check_failover(_accel, "Accel", subsystem_info_s::SUBSYSTEM_TYPE_ACC);
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check_failover(_gyro, "Gyro", subsystem_info_s::SUBSYSTEM_TYPE_GYRO);
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check_failover(_mag, "Mag", subsystem_info_s::SUBSYSTEM_TYPE_MAG);
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check_failover(_baro, "Baro", subsystem_info_s::SUBSYSTEM_TYPE_ABSPRESSURE);
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checkFailover(_accel, "Accel", subsystem_info_s::SUBSYSTEM_TYPE_ACC);
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checkFailover(_gyro, "Gyro", subsystem_info_s::SUBSYSTEM_TYPE_GYRO);
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checkFailover(_mag, "Mag", subsystem_info_s::SUBSYSTEM_TYPE_MAG);
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checkFailover(_baro, "Baro", subsystem_info_s::SUBSYSTEM_TYPE_ABSPRESSURE);
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}
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void VotedSensorsUpdate::set_relative_timestamps(sensor_combined_s &raw)
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void VotedSensorsUpdate::setRelativeTimestamps(sensor_combined_s &raw)
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{
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if (_last_accel_timestamp[_accel.last_best_vote]) {
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raw.accelerometer_timestamp_relative = (int32_t)((int64_t)_last_accel_timestamp[_accel.last_best_vote] -
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@ -1108,7 +1108,7 @@ void VotedSensorsUpdate::set_relative_timestamps(sensor_combined_s &raw)
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}
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void
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VotedSensorsUpdate::calc_accel_inconsistency(sensor_preflight_s &preflt)
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VotedSensorsUpdate::calcAccelInconsistency(sensor_preflight_s &preflt)
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{
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float accel_diff_sum_max_sq = 0.0f; // the maximum sum of axis differences squared
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unsigned check_index = 0; // the number of sensors the primary has been checked against
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@ -1157,7 +1157,7 @@ VotedSensorsUpdate::calc_accel_inconsistency(sensor_preflight_s &preflt)
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}
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}
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void VotedSensorsUpdate::calc_gyro_inconsistency(sensor_preflight_s &preflt)
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void VotedSensorsUpdate::calcGyroInconsistency(sensor_preflight_s &preflt)
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{
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float gyro_diff_sum_max_sq = 0.0f; // the maximum sum of axis differences squared
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unsigned check_index = 0; // the number of sensors the primary has been checked against
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@ -92,51 +92,51 @@ public:
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/**
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* This tries to find new sensor instances. This is called from init(), then it can be called periodically.
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*/
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void initialize_sensors();
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void initializeSensors();
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/**
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* deinitialize the object (we cannot use the destructor because it is called on the wrong thread)
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*/
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void deinit();
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void print_status();
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void printStatus();
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/**
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* call this whenever parameters got updated. Make sure to have initialize_sensors() called at least
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* call this whenever parameters got updated. Make sure to have initializeSensors() called at least
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* once before calling this.
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*/
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void parameters_update();
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void parametersUpdate();
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/**
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* read new sensor data
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*/
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void sensors_poll(sensor_combined_s &raw, vehicle_air_data_s &airdata, vehicle_magnetometer_s &magnetometer);
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void sensorsPoll(sensor_combined_s &raw, vehicle_air_data_s &airdata, vehicle_magnetometer_s &magnetometer);
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/**
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* set the relative timestamps of each sensor timestamp, based on the last sensors_poll,
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* set the relative timestamps of each sensor timestamp, based on the last sensorsPoll,
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* so that the data can be published.
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*/
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void set_relative_timestamps(sensor_combined_s &raw);
|
||||
void setRelativeTimestamps(sensor_combined_s &raw);
|
||||
|
||||
/**
|
||||
* check if a failover event occured. if so, report it.
|
||||
*/
|
||||
void check_failover();
|
||||
void checkFailover();
|
||||
|
||||
int num_gyros() const { return _gyro.subscription_count; }
|
||||
int gyro_fd(int idx) const { return _gyro.subscription[idx]; }
|
||||
int numGyros() const { return _gyro.subscription_count; }
|
||||
int gyroFd(int idx) const { return _gyro.subscription[idx]; }
|
||||
|
||||
int best_gyro_fd() const { return _gyro.subscription[_gyro.last_best_vote]; }
|
||||
int bestGyroFd() const { return _gyro.subscription[_gyro.last_best_vote]; }
|
||||
|
||||
/**
|
||||
* Calculates the magnitude in m/s/s of the largest difference between the primary and any other accel sensor
|
||||
*/
|
||||
void calc_accel_inconsistency(sensor_preflight_s &preflt);
|
||||
void calcAccelInconsistency(sensor_preflight_s &preflt);
|
||||
|
||||
/**
|
||||
* Calculates the magnitude in rad/s of the largest difference between the primary and any other gyro sensor
|
||||
*/
|
||||
void calc_gyro_inconsistency(sensor_preflight_s &preflt);
|
||||
void calcGyroInconsistency(sensor_preflight_s &preflt);
|
||||
|
||||
/**
|
||||
* Calculates the magnitude in Gauss of the largest difference between the primary and any other magnetometers
|
||||
|
|
@ -169,7 +169,7 @@ private:
|
|||
unsigned int last_failover_count;
|
||||
};
|
||||
|
||||
void init_sensor_class(const struct orb_metadata *meta, SensorData &sensor_data, uint8_t sensor_count_max);
|
||||
void initSensorClass(const struct orb_metadata *meta, SensorData &sensor_data, uint8_t sensor_count_max);
|
||||
|
||||
/**
|
||||
* Poll the accelerometer for updated data.
|
||||
|
|
@ -177,7 +177,7 @@ private:
|
|||
* @param raw Combined sensor data structure into which
|
||||
* data should be returned.
|
||||
*/
|
||||
void accel_poll(struct sensor_combined_s &raw);
|
||||
void accelPoll(struct sensor_combined_s &raw);
|
||||
|
||||
/**
|
||||
* Poll the gyro for updated data.
|
||||
|
|
@ -185,7 +185,7 @@ private:
|
|||
* @param raw Combined sensor data structure into which
|
||||
* data should be returned.
|
||||
*/
|
||||
void gyro_poll(struct sensor_combined_s &raw);
|
||||
void gyroPoll(struct sensor_combined_s &raw);
|
||||
|
||||
/**
|
||||
* Poll the magnetometer for updated data.
|
||||
|
|
@ -193,7 +193,7 @@ private:
|
|||
* @param raw Combined sensor data structure into which
|
||||
* data should be returned.
|
||||
*/
|
||||
void mag_poll(vehicle_magnetometer_s &magnetometer);
|
||||
void magPoll(vehicle_magnetometer_s &magnetometer);
|
||||
|
||||
/**
|
||||
* Poll the barometer for updated data.
|
||||
|
|
@ -201,13 +201,13 @@ private:
|
|||
* @param raw Combined sensor data structure into which
|
||||
* data should be returned.
|
||||
*/
|
||||
void baro_poll(vehicle_air_data_s &airdata);
|
||||
void baroPoll(vehicle_air_data_s &airdata);
|
||||
|
||||
/**
|
||||
* Check & handle failover of a sensor
|
||||
* @return true if a switch occured (could be for a non-critical reason)
|
||||
*/
|
||||
bool check_failover(SensorData &sensor, const char *sensor_name, const uint64_t type);
|
||||
bool checkFailover(SensorData &sensor, const char *sensor_name, const uint64_t type);
|
||||
|
||||
/**
|
||||
* Apply a gyro calibration.
|
||||
|
|
@ -217,7 +217,7 @@ private:
|
|||
* @param device: the device id of the sensor.
|
||||
* @return: true if config is ok
|
||||
*/
|
||||
bool apply_gyro_calibration(DriverFramework::DevHandle &h, const struct gyro_calibration_s *gcal, const int device_id);
|
||||
bool applyGyroCalibration(DriverFramework::DevHandle &h, const struct gyro_calibration_s *gcal, const int device_id);
|
||||
|
||||
/**
|
||||
* Apply a accel calibration.
|
||||
|
|
@ -227,8 +227,8 @@ private:
|
|||
* @param device: the device id of the sensor.
|
||||
* @return: true if config is ok
|
||||
*/
|
||||
bool apply_accel_calibration(DriverFramework::DevHandle &h, const struct accel_calibration_s *acal,
|
||||
const int device_id);
|
||||
bool applyAccelCalibration(DriverFramework::DevHandle &h, const struct accel_calibration_s *acal,
|
||||
const int device_id);
|
||||
|
||||
/**
|
||||
* Apply a mag calibration.
|
||||
|
|
@ -238,7 +238,7 @@ private:
|
|||
* @param device: the device id of the sensor.
|
||||
* @return: true if config is ok
|
||||
*/
|
||||
bool apply_mag_calibration(DriverFramework::DevHandle &h, const struct mag_calibration_s *mcal, const int device_id);
|
||||
bool applyMagCalibration(DriverFramework::DevHandle &h, const struct mag_calibration_s *mcal, const int device_id);
|
||||
|
||||
SensorData _gyro;
|
||||
SensorData _accel;
|
||||
|
|
|
|||
Loading…
Reference in New Issue