forked from Archive/PX4-Autopilot
Merge pull request #1111 from achambers16/uavcan_gnss
uavcan: bridge uavcan->uorb for gnss msgs
This commit is contained in:
Pavel Kirienko
commit
ee5dfadb5d
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@ -0,0 +1,153 @@
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/****************************************************************************
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*
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* Copyright (C) 2014 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 gnss_receiver.cpp
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*
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* @author Pavel Kirienko <pavel.kirienko@gmail.com>
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* @author Andrew Chambers <achamber@gmail.com>
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*
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*/
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#include "gnss_receiver.hpp"
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#include <systemlib/err.h>
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#include <mathlib/mathlib.h>
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#define MM_PER_CM 10 // Millimeters per centimeter
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UavcanGnssReceiver::UavcanGnssReceiver(uavcan::INode &node) :
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_node(node),
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_uavcan_sub_status(node),
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_report_pub(-1)
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{
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}
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int UavcanGnssReceiver::init()
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{
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int res = -1;
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// GNSS fix subscription
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res = _uavcan_sub_status.start(FixCbBinder(this, &UavcanGnssReceiver::gnss_fix_sub_cb));
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if (res < 0)
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{
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warnx("GNSS fix sub failed %i", res);
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return res;
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}
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// Clear the uORB GPS report
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memset(&_report, 0, sizeof(_report));
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return res;
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}
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void UavcanGnssReceiver::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &msg)
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{
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_report.timestamp_position = hrt_absolute_time();
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_report.lat = msg.lat_1e7;
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_report.lon = msg.lon_1e7;
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_report.alt = msg.alt_1e2 * MM_PER_CM; // Convert from centimeter (1e2) to millimeters (1e3)
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_report.timestamp_variance = _report.timestamp_position;
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// Check if the msg contains valid covariance information
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const bool valid_position_covariance = !msg.position_covariance.empty();
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const bool valid_velocity_covariance = !msg.velocity_covariance.empty();
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if (valid_position_covariance) {
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float pos_cov[9];
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msg.position_covariance.unpackSquareMatrix(pos_cov);
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_report.p_variance_m = math::max(pos_cov[0], pos_cov[4]);
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_report.eph_m = sqrtf(_report.p_variance_m);
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} else {
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_report.p_variance_m = -1.0;
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_report.eph_m = -1.0;
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}
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if (valid_velocity_covariance) {
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float vel_cov[9];
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msg.velocity_covariance.unpackSquareMatrix(vel_cov);
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_report.s_variance_m_s = math::max(math::max(vel_cov[0], vel_cov[4]), vel_cov[8]);
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/* There is a nonlinear relationship between the velocity vector and the heading.
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* Use Jacobian to transform velocity covariance to heading covariance
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*
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* Nonlinear equation:
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* heading = atan2(vel_e_m_s, vel_n_m_s)
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* For math, see http://en.wikipedia.org/wiki/Atan2#Derivative
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*
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* To calculate the variance of heading from the variance of velocity,
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* cov(heading) = J(velocity)*cov(velocity)*J(velocity)^T
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*/
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float vel_n = msg.ned_velocity[0];
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float vel_e = msg.ned_velocity[1];
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float vel_n_sq = vel_n * vel_n;
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float vel_e_sq = vel_e * vel_e;
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_report.c_variance_rad =
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(vel_e_sq * vel_cov[0] +
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-2 * vel_n * vel_e * vel_cov[1] + // Covariance matrix is symmetric
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vel_n_sq* vel_cov[4]) / ((vel_n_sq + vel_e_sq) * (vel_n_sq + vel_e_sq));
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_report.epv_m = sqrtf(msg.position_covariance[8]);
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} else {
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_report.s_variance_m_s = -1.0;
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_report.c_variance_rad = -1.0;
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_report.epv_m = -1.0;
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}
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_report.fix_type = msg.status;
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_report.timestamp_velocity = _report.timestamp_position;
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_report.vel_n_m_s = msg.ned_velocity[0];
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_report.vel_e_m_s = msg.ned_velocity[1];
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_report.vel_d_m_s = msg.ned_velocity[2];
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_report.vel_m_s = sqrtf(_report.vel_n_m_s * _report.vel_n_m_s + _report.vel_e_m_s * _report.vel_e_m_s + _report.vel_d_m_s * _report.vel_d_m_s);
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_report.cog_rad = atan2f(_report.vel_e_m_s, _report.vel_n_m_s);
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_report.vel_ned_valid = true;
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_report.timestamp_time = _report.timestamp_position;
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_report.time_gps_usec = msg.timestamp.husec * msg.timestamp.USEC_PER_LSB; // Convert to microseconds
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_report.timestamp_satellites = _report.timestamp_position;
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_report.satellites_visible = msg.sats_used;
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_report.satellite_info_available = 0; // Set to 0 for no info available
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if (_report_pub > 0) {
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orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
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} else {
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_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
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}
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}
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@ -0,0 +1,84 @@
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/****************************************************************************
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*
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* Copyright (C) 2014 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 gnss_receiver.hpp
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*
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* UAVCAN --> ORB bridge for GNSS messages:
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* uavcan.equipment.gnss.Fix
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*
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* @author Pavel Kirienko <pavel.kirienko@gmail.com>
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* @author Andrew Chambers <achamber@gmail.com>
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*/
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#pragma once
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#include <drivers/drv_hrt.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/vehicle_gps_position.h>
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#include <uavcan/uavcan.hpp>
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#include <uavcan/equipment/gnss/Fix.hpp>
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class UavcanGnssReceiver
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{
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public:
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UavcanGnssReceiver(uavcan::INode& node);
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int init();
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private:
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/**
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* GNSS fix message will be reported via this callback.
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*/
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void gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &msg);
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typedef uavcan::MethodBinder<UavcanGnssReceiver*,
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void (UavcanGnssReceiver::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix>&)>
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FixCbBinder;
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/*
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* libuavcan related things
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*/
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uavcan::INode &_node;
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uavcan::Subscriber<uavcan::equipment::gnss::Fix, FixCbBinder> _uavcan_sub_status;
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/*
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* uORB
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*/
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struct vehicle_gps_position_s _report; ///< uORB topic for gnss position
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orb_advert_t _report_pub; ///< uORB pub for gnss position
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};
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@ -42,7 +42,8 @@ MAXOPTIMIZATION = -Os
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SRCS += uavcan_main.cpp \
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uavcan_clock.cpp \
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esc_controller.cpp
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esc_controller.cpp \
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gnss_receiver.cpp
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#
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# libuavcan
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@ -63,7 +63,8 @@ UavcanNode *UavcanNode::_instance;
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UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock) :
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CDev("uavcan", UAVCAN_DEVICE_PATH),
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_node(can_driver, system_clock),
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_esc_controller(_node)
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_esc_controller(_node),
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_gnss_receiver(_node)
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{
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_control_topics[0] = ORB_ID(actuator_controls_0);
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_control_topics[1] = ORB_ID(actuator_controls_1);
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@ -186,6 +187,10 @@ int UavcanNode::init(uavcan::NodeID node_id)
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if (ret < 0)
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return ret;
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ret = _gnss_receiver.init();
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if (ret < 0)
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return ret;
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uavcan::protocol::SoftwareVersion swver;
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swver.major = 12; // TODO fill version info
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swver.minor = 34;
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@ -43,6 +43,7 @@
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#include <uORB/topics/actuator_armed.h>
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#include "esc_controller.hpp"
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#include "gnss_receiver.hpp"
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/**
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* @file uavcan_main.hpp
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@ -108,6 +109,7 @@ private:
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static UavcanNode *_instance; ///< singleton pointer
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Node _node; ///< library instance
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UavcanEscController _esc_controller;
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UavcanGnssReceiver _gnss_receiver;
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MixerGroup *_mixers = nullptr;
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