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sensors/vehicle_angular_velocity: use single uORB::Subscription, but change instance

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This commit is contained in:
Daniel Agar
2020-09-01 13:53:50 -04:00
parent 94f7b50970
commit ee88561a33
2 changed files with 71 additions and 93 deletions
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src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
+70 -88
View File
@@ -77,10 +77,7 @@ bool VehicleAngularVelocity::Start()
void VehicleAngularVelocity::Stop() void VehicleAngularVelocity::Stop()
{ {
// clear all registered callbacks // clear all registered callbacks
for (auto &sub : _sensor_sub) { _sensor_sub.unregisterCallback();
sub.unregisterCallback();
}
_sensor_selection_sub.unregisterCallback(); _sensor_selection_sub.unregisterCallback();
Deinit(); Deinit();
@@ -110,11 +107,11 @@ void VehicleAngularVelocity::CheckFilters()
const uint8_t samples = math::constrain(roundf(configured_interval_us / sample_interval_avg), 1.f, const uint8_t samples = math::constrain(roundf(configured_interval_us / sample_interval_avg), 1.f,
(float)sensor_gyro_s::ORB_QUEUE_LENGTH); (float)sensor_gyro_s::ORB_QUEUE_LENGTH);
_sensor_sub[_selected_sensor_sub_index].set_required_updates(samples); _sensor_sub.set_required_updates(samples);
_required_sample_updates = samples; _required_sample_updates = samples;
} else { } else {
_sensor_sub[_selected_sensor_sub_index].set_required_updates(1); _sensor_sub.set_required_updates(1);
_required_sample_updates = 1; _required_sample_updates = 1;
} }
} }
@@ -181,17 +178,12 @@ bool VehicleAngularVelocity::SensorSelectionUpdate(bool force)
_sensor_selection_sub.copy(&sensor_selection); _sensor_selection_sub.copy(&sensor_selection);
if (_selected_sensor_device_id != sensor_selection.gyro_device_id) { if (_selected_sensor_device_id != sensor_selection.gyro_device_id) {
// clear all registered callbacks for (uint8_t i = 0; i < MAX_SENSOR_COUNT; i++) {
for (auto &sub : _sensor_sub) { uORB::SubscriptionData<sensor_gyro_s> sensor_gyro_sub{ORB_ID(sensor_gyro), i};
sub.unregisterCallback();
}
for (int i = 0; i < MAX_SENSOR_COUNT; i++) { if ((sensor_gyro_sub.get().device_id != 0) && (sensor_gyro_sub.get().device_id == sensor_selection.gyro_device_id)) {
sensor_gyro_s report{};
_sensor_sub[i].copy(&report);
if ((report.device_id != 0) && (report.device_id == sensor_selection.gyro_device_id)) { if (_sensor_sub.ChangeInstance(i) && _sensor_sub.registerCallback()) {
if (_sensor_sub[i].registerCallback()) {
PX4_DEBUG("selected sensor changed %d -> %d", _selected_sensor_sub_index, i); PX4_DEBUG("selected sensor changed %d -> %d", _selected_sensor_sub_index, i);
// record selected sensor (array index) // record selected sensor (array index)
@@ -201,7 +193,7 @@ bool VehicleAngularVelocity::SensorSelectionUpdate(bool force)
// clear bias and corrections // clear bias and corrections
_bias.zero(); _bias.zero();
_calibration.set_device_id(report.device_id); _calibration.set_device_id(sensor_gyro_sub.get().device_id);
// reset sample interval accumulator on sensor change // reset sample interval accumulator on sensor change
_timestamp_sample_last = 0; _timestamp_sample_last = 0;
@@ -247,88 +239,78 @@ void VehicleAngularVelocity::Run()
SensorBiasUpdate(selection_updated); SensorBiasUpdate(selection_updated);
ParametersUpdate(); ParametersUpdate();
bool sensor_updated = _sensor_sub[_selected_sensor_sub_index].updated();
// process all outstanding messages // process all outstanding messages
while (sensor_updated || selection_updated) { sensor_gyro_s sensor_data;
selection_updated = false;
sensor_gyro_s sensor_data; while (_sensor_sub.update(&sensor_data)) {
if (_sensor_sub[_selected_sensor_sub_index].copy(&sensor_data)) { // collect sample interval average for filters
if ((_timestamp_sample_last > 0) && (sensor_data.timestamp_sample > _timestamp_sample_last)) {
_interval_sum += (sensor_data.timestamp_sample - _timestamp_sample_last);
_interval_count++;
if (sensor_updated) { } else {
// collect sample interval average for filters _interval_sum = 0.f;
if ((_timestamp_sample_last > 0) && (sensor_data.timestamp_sample > _timestamp_sample_last)) { _interval_count = 0.f;
_interval_sum += (sensor_data.timestamp_sample - _timestamp_sample_last); }
_interval_count++;
} else { _timestamp_sample_last = sensor_data.timestamp_sample;
_interval_sum = 0.f;
_interval_count = 0.f; // Guard against too small (< 0.2ms) and too large (> 20ms) dt's.
const float dt = math::constrain(((sensor_data.timestamp_sample - _timestamp_sample_prev) / 1e6f), 0.0002f, 0.02f);
_timestamp_sample_prev = sensor_data.timestamp_sample;
// get the sensor data and correct for thermal errors (apply offsets and scale)
const Vector3f val{sensor_data.x, sensor_data.y, sensor_data.z};
// correct for in-run bias errors
const Vector3f angular_velocity_raw = _calibration.Correct(val) - _bias;
// Gyro filtering:
// - Apply general notch filter (IMU_GYRO_NF_FREQ)
// - Apply general low-pass filter (IMU_GYRO_CUTOFF)
// - Differentiate & apply specific angular acceleration (D-term) low-pass (IMU_DGYRO_CUTOFF)
const Vector3f angular_velocity_notched{_notch_filter_velocity.apply(angular_velocity_raw)};
const Vector3f angular_velocity{_lp_filter_velocity.apply(angular_velocity_notched)};
const Vector3f angular_acceleration_raw = (angular_velocity - _angular_velocity_prev) / dt;
_angular_velocity_prev = angular_velocity;
_angular_acceleration_prev = angular_acceleration_raw;
const Vector3f angular_acceleration{_lp_filter_acceleration.apply(angular_acceleration_raw)};
CheckFilters();
// publish once all new samples are processed
if (!_sensor_sub.updated()) {
bool publish = true;
if (_param_imu_gyro_rate_max.get() > 0) {
const uint64_t interval = 1e6f / _param_imu_gyro_rate_max.get();
if (hrt_elapsed_time(&_last_publish) < interval) {
publish = false;
} }
_timestamp_sample_last = sensor_data.timestamp_sample;
} }
// Guard against too small (< 0.2ms) and too large (> 20ms) dt's. if (publish) {
const float dt = math::constrain(((sensor_data.timestamp_sample - _timestamp_sample_prev) / 1e6f), 0.0002f, 0.02f); // Publish vehicle_angular_acceleration
_timestamp_sample_prev = sensor_data.timestamp_sample; vehicle_angular_acceleration_s v_angular_acceleration;
v_angular_acceleration.timestamp_sample = sensor_data.timestamp_sample;
angular_acceleration.copyTo(v_angular_acceleration.xyz);
v_angular_acceleration.timestamp = hrt_absolute_time();
_vehicle_angular_acceleration_pub.publish(v_angular_acceleration);
// get the sensor data and correct for thermal errors (apply offsets and scale) // Publish vehicle_angular_velocity
const Vector3f val{sensor_data.x, sensor_data.y, sensor_data.z}; vehicle_angular_velocity_s v_angular_velocity;
v_angular_velocity.timestamp_sample = sensor_data.timestamp_sample;
angular_velocity.copyTo(v_angular_velocity.xyz);
v_angular_velocity.timestamp = hrt_absolute_time();
_vehicle_angular_velocity_pub.publish(v_angular_velocity);
// correct for in-run bias errors _last_publish = v_angular_velocity.timestamp_sample;
const Vector3f angular_velocity_raw = _calibration.Correct(val) - _bias; return;
// Gyro filtering:
// - Apply general notch filter (IMU_GYRO_NF_FREQ)
// - Apply general low-pass filter (IMU_GYRO_CUTOFF)
// - Differentiate & apply specific angular acceleration (D-term) low-pass (IMU_DGYRO_CUTOFF)
const Vector3f angular_velocity_notched{_notch_filter_velocity.apply(angular_velocity_raw)};
const Vector3f angular_velocity{_lp_filter_velocity.apply(angular_velocity_notched)};
const Vector3f angular_acceleration_raw = (angular_velocity - _angular_velocity_prev) / dt;
_angular_velocity_prev = angular_velocity;
_angular_acceleration_prev = angular_acceleration_raw;
const Vector3f angular_acceleration{_lp_filter_acceleration.apply(angular_acceleration_raw)};
CheckFilters();
// publish once all new samples are processed
sensor_updated = _sensor_sub[_selected_sensor_sub_index].updated();
if (!sensor_updated) {
bool publish = true;
if (_param_imu_gyro_rate_max.get() > 0) {
const uint64_t interval = 1e6f / _param_imu_gyro_rate_max.get();
if (hrt_elapsed_time(&_last_publish) < interval) {
publish = false;
}
}
if (publish) {
// Publish vehicle_angular_acceleration
vehicle_angular_acceleration_s v_angular_acceleration;
v_angular_acceleration.timestamp_sample = sensor_data.timestamp_sample;
angular_acceleration.copyTo(v_angular_acceleration.xyz);
v_angular_acceleration.timestamp = hrt_absolute_time();
_vehicle_angular_acceleration_pub.publish(v_angular_acceleration);
// Publish vehicle_angular_velocity
vehicle_angular_velocity_s v_angular_velocity;
v_angular_velocity.timestamp_sample = sensor_data.timestamp_sample;
angular_velocity.copyTo(v_angular_velocity.xyz);
v_angular_velocity.timestamp = hrt_absolute_time();
_vehicle_angular_velocity_pub.publish(v_angular_velocity);
_last_publish = v_angular_velocity.timestamp_sample;
return;
}
} }
} }
} }
src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp
+1 -5
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@@ -84,11 +84,7 @@ private:
uORB::Subscription _params_sub{ORB_ID(parameter_update)}; uORB::Subscription _params_sub{ORB_ID(parameter_update)};
uORB::SubscriptionCallbackWorkItem _sensor_selection_sub{this, ORB_ID(sensor_selection)}; uORB::SubscriptionCallbackWorkItem _sensor_selection_sub{this, ORB_ID(sensor_selection)};
uORB::SubscriptionCallbackWorkItem _sensor_sub[MAX_SENSOR_COUNT] { uORB::SubscriptionCallbackWorkItem _sensor_sub{this, ORB_ID(sensor_gyro)};
{this, ORB_ID(sensor_gyro), 0},
{this, ORB_ID(sensor_gyro), 1},
{this, ORB_ID(sensor_gyro), 2}
};
calibration::Gyroscope _calibration{}; calibration::Gyroscope _calibration{};