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vectornav fix local position and add perf counts

This commit is contained in:
Daniel Agar 2023-05-19 16:17:02 -04:00
parent 2d5d2a929c
commit 920dd62918
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GPG Key ID: FD3CBA98017A69DE
2 changed files with 48 additions and 16 deletions
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54
src/drivers/ins/vectornav/VectorNav.cpp
View File

@ -102,6 +102,16 @@ VectorNav::~VectorNav()
perf_free(_sample_perf);
perf_free(_comms_errors);
perf_free(_accel_pub_interval_perf);
perf_free(_gyro_pub_interval_perf);
perf_free(_mag_pub_interval_perf);
perf_free(_gnss_pub_interval_perf);
perf_free(_baro_pub_interval_perf);
perf_free(_attitude_pub_interval_perf);
perf_free(_local_position_pub_interval_perf);
perf_free(_global_position_pub_interval_perf);
}
void VectorNav::binaryAsyncMessageReceived(void *userData, VnUartPacket *packet, size_t runningIndex)
@ -153,9 +163,11 @@ void VectorNav::sensorCallback(VnUartPacket *packet)
// publish sensor_accel
_px4_accel.update(time_now_us, accel.c[0], accel.c[1], accel.c[2]);
perf_count(_accel_pub_interval_perf);
// publish sensor_gyro
_px4_gyro.update(time_now_us, angular_rate.c[0], angular_rate.c[1], angular_rate.c[2]);
perf_count(_gyro_pub_interval_perf);
_time_last_valid_imu_us.store(hrt_absolute_time());
}
@ -217,9 +229,11 @@ void VectorNav::sensorCallback(VnUartPacket *packet)
sensor_baro.temperature = temperature;
sensor_baro.timestamp = hrt_absolute_time();
_sensor_baro_pub.publish(sensor_baro);
perf_count(_baro_pub_interval_perf);
// publish sensor_mag
_px4_mag.update(time_now_us, mag.c[0], mag.c[1], mag.c[2]);
perf_count(_mag_pub_interval_perf);
// publish attitude
vehicle_attitude_s attitude{};
@ -230,13 +244,14 @@ void VectorNav::sensorCallback(VnUartPacket *packet)
attitude.q[3] = quaternion.c[2];
attitude.timestamp = hrt_absolute_time();
_attitude_pub.publish(attitude);
perf_count(_attitude_pub_interval_perf);
// mode
const uint16_t mode = (insStatus & 0b11);
//const bool mode_initializing = (mode == 0b00);
const bool mode_aligning = (mode == 0b01);
const bool mode_tracking = (mode == 0b10);
const bool mode_loss_gnss = (mode == 0b11);
//const bool mode_loss_gnss = (mode == 0b11);
// mode_initializing
@ -257,8 +272,7 @@ void VectorNav::sensorCallback(VnUartPacket *packet)
// - attitude is good
// - treat as mode 0
if ((mode_aligning || mode_tracking) && !mode_loss_gnss) {
if (mode_aligning || mode_tracking) {
// publish local_position
const double lat = positionEstimatedLla.c[0];
@ -275,10 +289,10 @@ void VectorNav::sensorCallback(VnUartPacket *packet)
vehicle_local_position_s local_position{};
local_position.timestamp_sample = time_now_us;
local_position.xy_valid = !mode_loss_gnss;
local_position.z_valid = !mode_loss_gnss;
local_position.v_xy_valid = !mode_loss_gnss;
local_position.v_z_valid = !mode_loss_gnss;
local_position.xy_valid = true;
local_position.z_valid = true;
local_position.v_xy_valid = true;
local_position.v_z_valid = true;
local_position.x = pos_ned(0);
local_position.y = pos_ned(1);
@ -297,13 +311,14 @@ void VectorNav::sensorCallback(VnUartPacket *packet)
local_position.heading = matrix::Eulerf{q}.psi();
local_position.heading_good_for_control = mode_tracking;
local_position.xy_global = mode_loss_gnss;
local_position.z_global = mode_loss_gnss;
local_position.ref_timestamp = _pos_ref.getProjectionReferenceTimestamp();
local_position.ref_lat = _pos_ref.getProjectionReferenceLat();
local_position.ref_lon = _pos_ref.getProjectionReferenceLon();
local_position.ref_alt = _gps_alt_ref;
if (_pos_ref.isInitialized()) {
local_position.xy_global = true;
local_position.z_global = true;
local_position.ref_timestamp = _pos_ref.getProjectionReferenceTimestamp();
local_position.ref_lat = _pos_ref.getProjectionReferenceLat();
local_position.ref_lon = _pos_ref.getProjectionReferenceLon();
local_position.ref_alt = _gps_alt_ref;
}
local_position.dist_bottom_valid = false;
@ -312,11 +327,16 @@ void VectorNav::sensorCallback(VnUartPacket *packet)
local_position.evh = velocityUncertaintyEstimated;
local_position.evv = velocityUncertaintyEstimated;
local_position.dead_reckoning = mode_loss_gnss;
local_position.dead_reckoning = false;
local_position.vxy_max = INFINITY;
local_position.vz_max = INFINITY;
local_position.hagl_min = INFINITY;
local_position.hagl_max = INFINITY;
local_position.timestamp = hrt_absolute_time();
_local_position_pub.publish(local_position);
perf_count(_local_position_pub_interval_perf);
// publish global_position
@ -332,6 +352,7 @@ void VectorNav::sensorCallback(VnUartPacket *packet)
global_position.timestamp = hrt_absolute_time();
_global_position_pub.publish(global_position);
perf_count(_global_position_pub_interval_perf);
}
}
@ -409,6 +430,7 @@ void VectorNav::sensorCallback(VnUartPacket *packet)
sensor_gps.timestamp = hrt_absolute_time();
_sensor_gps_pub.publish(sensor_gps);
perf_count(_gnss_pub_interval_perf);
}
}
}

10
src/drivers/ins/vectornav/VectorNav.hpp
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@ -143,6 +143,16 @@ private:
perf_counter_t _comms_errors{perf_alloc(PC_COUNT, MODULE_NAME": com_err")};
perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": read")};
perf_counter_t _accel_pub_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": accel publish interval")};
perf_counter_t _gyro_pub_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": gyro publish interval")};
perf_counter_t _mag_pub_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": mag publish interval")};
perf_counter_t _gnss_pub_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": GNSS publish interval")};
perf_counter_t _baro_pub_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": baro publish interval")};
perf_counter_t _attitude_pub_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": attitude publish interval")};
perf_counter_t _local_position_pub_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": local position publish interval")};
perf_counter_t _global_position_pub_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": global position publish interval")};
// TODO: params for GNSS antenna offsets
// A