forked from Archive/PX4-Autopilot
fake_ev: add module that publishes fake ev data based on GNSS
This commit is contained in:
bresch
parent
3c9108e11e
commit
704bd22bc1
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############################################################################
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#
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# Copyright (c) 2023 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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px4_add_module(
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MODULE modules__fake_ev
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MAIN fake_ev
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COMPILE_FLAGS
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${MAX_CUSTOM_OPT_LEVEL}
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SRCS
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fake_ev.cpp
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fake_ev.hpp
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DEPENDS
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px4_work_queue
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mathlib
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)
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menuconfig MODULES_FAKE_EV
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bool "fake_ev"
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default y
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---help---
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Enable fake external vision publisher
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menuconfig USER_FAKE_EV
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bool "fake_ev running as userspace module"
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default y
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depends on BOARD_PROTECTED && MODULES_FAKE_EV
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---help---
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Put fake_ev in userspace memory
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/****************************************************************************
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*
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* Copyright (c) 2023 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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/**
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* @file fake_ev.cpp
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*/
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#include "fake_ev.hpp"
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#include <mathlib/mathlib.h>
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FakeEV::FakeEV() :
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ModuleParams(nullptr),
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WorkItem(MODULE_NAME, px4::wq_configurations::lp_default)
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{
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updateParams();
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}
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FakeEV::~FakeEV()
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{
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perf_free(_cycle_perf);
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}
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bool FakeEV::init()
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{
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if (!_vehicle_gps_position_sub.registerCallback()) {
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PX4_ERR("callback registration failed");
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return false;
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}
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return true;
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}
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void FakeEV::updateParams()
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{
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ModuleParams::updateParams();
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}
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void FakeEV::Run()
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{
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if (should_exit()) {
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_vehicle_gps_position_sub.unregisterCallback();
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exit_and_cleanup();
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return;
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}
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if (!_vehicle_gps_position_sub.updated()) {
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return;
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}
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perf_begin(_cycle_perf);
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sensor_gps_s gps{};
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if (_vehicle_gps_position_sub.copy(&gps)) {
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vehicle_odometry_s odom = gpsToOdom(gps);
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_vehicle_visual_odometry_pub.publish(odom);
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}
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// check for parameter updates
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if (_parameter_update_sub.updated()) {
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// clear update
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parameter_update_s pupdate;
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_parameter_update_sub.copy(&pupdate);
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// update parameters from storage
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updateParams();
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}
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perf_end(_cycle_perf);
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}
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vehicle_odometry_s FakeEV::gpsToOdom(const sensor_gps_s &gps)
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{
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vehicle_odometry_s odom{vehicle_odometry_empty};
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/* odom.timestamp_sample = gps.timestamp_sample; */ // gps timestamp_sample isn't set in SITL
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odom.timestamp_sample = gps.timestamp;
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if (gps.fix_type >= 3) {
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if (PX4_ISFINITE(_alt_ref)) {
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const matrix::Vector2f hpos = _pos_ref.project(gps.lat / 1.0e7, gps.lon / 1.0e7);
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const float vpos = (float)gps.alt * 1e-3f - _alt_ref;
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matrix::Vector3f(hpos(0), hpos(1), vpos).copyTo(odom.position);
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const float hvar = std::pow(gps.eph, 2.f);
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const float vvar = std::pow(gps.epv, 2.f);
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matrix::Vector3f(hvar, hvar, vvar).copyTo(odom.position_variance);
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odom.pose_frame = vehicle_odometry_s::POSE_FRAME_NED;
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} else {
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_pos_ref.initReference(gps.lat / 1.0e7, gps.lon / 1.0e7, gps.timestamp);
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_alt_ref = (float)gps.alt * 1e-3f;
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}
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}
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if (gps.vel_ned_valid) {
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matrix::Vector3f(gps.vel_n_m_s, gps.vel_e_m_s, gps.vel_d_m_s).copyTo(odom.velocity);
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matrix::Vector3f vel_var;
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vel_var.setAll(std::pow(gps.s_variance_m_s, 2.f));
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vel_var.copyTo(odom.velocity_variance);
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odom.velocity_frame = vehicle_odometry_s::VELOCITY_FRAME_NED;
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}
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odom.timestamp = hrt_absolute_time();
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return odom;
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}
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int FakeEV::task_spawn(int argc, char *argv[])
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{
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FakeEV *instance = new FakeEV();
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if (instance) {
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_object.store(instance);
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_task_id = task_id_is_work_queue;
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if (instance->init()) {
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return PX4_OK;
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}
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} else {
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PX4_ERR("alloc failed");
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}
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delete instance;
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_object.store(nullptr);
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_task_id = -1;
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return PX4_ERROR;
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}
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int FakeEV::custom_command(int argc, char *argv[])
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{
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return print_usage("unknown command");
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}
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int FakeEV::print_status()
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{
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perf_print_counter(_cycle_perf);
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return 0;
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}
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int FakeEV::print_usage(const char *reason)
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{
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if (reason) {
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PX4_WARN("%s\n", reason);
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}
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PRINT_MODULE_DESCRIPTION(
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R"DESCR_STR(
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### Description
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)DESCR_STR");
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PRINT_MODULE_USAGE_NAME("fake_ev", "driver");
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PRINT_MODULE_USAGE_COMMAND("start");
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PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
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return 0;
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}
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extern "C" __EXPORT int fake_ev_main(int argc, char *argv[])
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{
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return FakeEV::main(argc, argv);
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}
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@ -0,0 +1,112 @@
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/****************************************************************************
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*
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* Copyright (c) 2023 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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/**
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* @file fake_ev.hpp
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*/
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#pragma once
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#include <drivers/drv_hrt.h>
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#include <lib/geo/geo.h>
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#include <lib/perf/perf_counter.h>
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#include <px4_platform_common/defines.h>
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#include <px4_platform_common/module.h>
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#include <px4_platform_common/module_params.h>
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#include <px4_platform_common/posix.h>
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#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
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#include <uORB/Publication.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/SubscriptionCallback.hpp>
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#include <uORB/topics/parameter_update.h>
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#include <uORB/topics/sensor_gps.h>
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#include <uORB/topics/vehicle_odometry.h>
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using namespace time_literals;
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class FakeEV : public ModuleBase<FakeEV>, public ModuleParams,
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public px4::WorkItem
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{
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public:
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FakeEV();
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~FakeEV() override;
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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static int custom_command(int argc, char *argv[]);
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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bool init();
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/** @see ModuleBase::print_status() */
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int print_status() override;
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private:
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static constexpr vehicle_odometry_s vehicle_odometry_empty {
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.timestamp = 0,
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.timestamp_sample = 0,
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.position = {NAN, NAN, NAN},
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.q = {NAN, NAN, NAN, NAN},
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.velocity = {NAN, NAN, NAN},
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.angular_velocity = {NAN, NAN, NAN},
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.position_variance = {NAN, NAN, NAN},
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.orientation_variance = {NAN, NAN, NAN},
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.velocity_variance = {NAN, NAN, NAN},
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.pose_frame = vehicle_odometry_s::POSE_FRAME_UNKNOWN,
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.velocity_frame = vehicle_odometry_s::VELOCITY_FRAME_UNKNOWN,
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.reset_counter = 0,
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.quality = 0
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};
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void Run() override;
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void updateParams() override;
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vehicle_odometry_s gpsToOdom(const sensor_gps_s &gps);
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uORB::Publication<vehicle_odometry_s> _vehicle_visual_odometry_pub{ORB_ID(vehicle_visual_odometry)};
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uORB::SubscriptionCallbackWorkItem _vehicle_gps_position_sub{this, ORB_ID(vehicle_gps_position)};
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uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
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hrt_abstime _timestamp_last{0};
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MapProjection _pos_ref{}; // Contains WGS-84 position latitude and longitude
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float _alt_ref{NAN};
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perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle time")};
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};
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/****************************************************************************
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*
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* Copyright (c) 2023 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
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
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* the documentation and/or other materials provided with the
|
||||
* distribution.
|
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* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
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*
|
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* 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
|
||||
* 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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/**
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* @file fake_ev_params.c
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*/
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