forked from Archive/PX4-Autopilot
uavcan: add RelPosHeading->sensor_gnss_relative
This commit is contained in:
alexklimaj
Daniel Agar
parent
db60bbc46b
commit
3ff1f213a4
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@ -15,8 +15,8 @@ float32[3] position_accuracy # Accuracy of relative position (m)
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float32 heading # Heading of the relative position vector (radians)
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float32 heading_accuracy # Accuracy of heading of the relative position vector (radians)
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float32 position_length
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float32 accuracy_length
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float32 position_length # Length of the position vector (m)
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float32 accuracy_length # Accuracy of the position length (m)
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bool gnss_fix_ok # GNSS valid fix (i.e within DOP & accuracy masks)
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bool differential_solution # differential corrections were applied
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@ -167,6 +167,7 @@ px4_add_module(
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sensors/battery.cpp
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sensors/airspeed.cpp
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sensors/flow.cpp
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sensors/gnss_relative.cpp
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sensors/gnss.cpp
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sensors/mag.cpp
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sensors/rangefinder.cpp
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@ -57,6 +57,10 @@ if DRIVERS_UAVCAN
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bool "Subscribe to GPS: uavcan::equipment::gnss::Auxiliary | uavcan::equipment::gnss::Fix | uavcan::equipment::gnss::Fix2"
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default y
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config UAVCAN_SENSOR_GNSS_RELATIVE
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bool "Subscribe to GPS Relative: ardupilot::equipment::gnss::RelPosHeading"
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default y
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config UAVCAN_SENSOR_HYGROMETER
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bool "Subscribe to Hygrometer: dronecan::sensors::hygrometer::Hygrometer"
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default y
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@ -0,0 +1,78 @@
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/****************************************************************************
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*
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "gnss_relative.hpp"
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#include <drivers/drv_hrt.h>
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#include <lib/mathlib/math/Limits.hpp>
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const char *const UavcanGnssRelativeBridge::NAME = "gnss_relative";
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UavcanGnssRelativeBridge::UavcanGnssRelativeBridge(uavcan::INode &node) :
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UavcanSensorBridgeBase("uavcan_gnss_relative", ORB_ID(sensor_gnss_relative)),
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_sub_rel_pos_heading(node)
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{
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}
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int
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UavcanGnssRelativeBridge::init()
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{
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int res = _sub_rel_pos_heading.start(RelPosHeadingCbBinder(this, &UavcanGnssRelativeBridge::rel_pos_heading_sub_cb));
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if (res < 0) {
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DEVICE_LOG("failed to start uavcan sub: %d", res);
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return res;
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}
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return 0;
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}
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void UavcanGnssRelativeBridge::rel_pos_heading_sub_cb(const
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uavcan::ReceivedDataStructure<ardupilot::gnss::RelPosHeading> &msg)
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{
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sensor_gnss_relative_s sensor_gnss_relative{};
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sensor_gnss_relative.timestamp_sample = uavcan::UtcTime(msg.timestamp).toUSec();
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sensor_gnss_relative.heading_valid = msg.reported_heading_acc_available;
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sensor_gnss_relative.heading = math::radians(msg.reported_heading_deg);
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sensor_gnss_relative.heading_accuracy = math::radians(msg.reported_heading_acc_deg);
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sensor_gnss_relative.position_length = msg.relative_distance_m;
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sensor_gnss_relative.position[2] = msg.relative_down_pos_m;
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sensor_gnss_relative.device_id = get_device_id();
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sensor_gnss_relative.timestamp = hrt_absolute_time();
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publish(msg.getSrcNodeID().get(), &sensor_gnss_relative);
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}
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@ -0,0 +1,65 @@
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/****************************************************************************
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*
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include "sensor_bridge.hpp"
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#include <stdint.h>
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#include <uORB/topics/sensor_gnss_relative.h>
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#include <ardupilot/gnss/RelPosHeading.hpp>
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class UavcanGnssRelativeBridge : public UavcanSensorBridgeBase
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{
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public:
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static const char *const NAME;
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UavcanGnssRelativeBridge(uavcan::INode &node);
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const char *get_name() const override { return NAME; }
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int init() override;
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private:
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void rel_pos_heading_sub_cb(const uavcan::ReceivedDataStructure<ardupilot::gnss::RelPosHeading> &msg);
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typedef uavcan::MethodBinder < UavcanGnssRelativeBridge *,
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void (UavcanGnssRelativeBridge::*)(const uavcan::ReceivedDataStructure<ardupilot::gnss::RelPosHeading> &) >
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RelPosHeadingCbBinder;
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uavcan::Subscriber<ardupilot::gnss::RelPosHeading, RelPosHeadingCbBinder> _sub_rel_pos_heading;
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};
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@ -60,6 +60,9 @@
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#if defined(CONFIG_UAVCAN_SENSOR_GNSS)
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#include "gnss.hpp"
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#endif
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#if defined(CONFIG_UAVCAN_SENSOR_GNSS_RELATIVE)
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#include "gnss_relative.hpp"
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#endif
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#if defined(CONFIG_UAVCAN_SENSOR_HYGROMETER)
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#include "hygrometer.hpp"
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#endif
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@ -145,6 +148,17 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge
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list.add(new UavcanGnssBridge(node));
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}
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#endif
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// GPS relative
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#if defined(CONFIG_UAVCAN_SENSOR_GNSS_RELATIVE)
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int32_t uavcan_sub_gps_rel = 1;
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param_get(param_find("UAVCAN_SUB_GPS_R"), &uavcan_sub_gps_rel);
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if (uavcan_sub_gps_rel != 0) {
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list.add(new UavcanGnssRelativeBridge(node));
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}
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#endif
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// hygrometer
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@ -306,6 +306,18 @@ PARAM_DEFINE_INT32(UAVCAN_SUB_FLOW, 0);
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*/
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PARAM_DEFINE_INT32(UAVCAN_SUB_GPS, 1);
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/**
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* subscription GPS Relative
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*
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* Enable UAVCAN GPS Relative subscription.
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* ardupilot::gnss::RelPosHeading
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*
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* @boolean
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* @reboot_required true
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* @group UAVCAN
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*/
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PARAM_DEFINE_INT32(UAVCAN_SUB_GPS_R, 1);
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/**
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* subscription hygrometer
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*
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