mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-10-06 19:00:27 +08:00
Andy PiperandAndrew Tridgell
6db09c9fdd
decimate the gyro window locally configure rate loop buffer based on AP_INERTIALSENSOR_FAST_SAMPLE_WINDOW_ENABLED allow backends to be updated from rate thread output debug error if rate loop buffer overruns add support for updating filter parameters independently of propagating samples add rate loop config abstraction that allows code to be elided on non-copter builds must be using harmonic notch to use rate thread mediate fast rate loop buffer using mutex and binary semaphore ensure gyro samples are used when the rate loop buffer isn't Co-Authored-By: Andrew Tridgell <andrew@tridgell.net>
125 lines
3.4 KiB
C++
125 lines
3.4 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <AP_AHRS/AP_AHRS.h>
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#include "AP_InertialSensor_rate_config.h"
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#include "AP_InertialSensor.h"
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#include "AP_InertialSensor_Backend.h"
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#if AP_INERTIALSENSOR_FAST_SAMPLE_WINDOW_ENABLED
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#include "FastRateBuffer.h"
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#include <stdio.h>
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extern const AP_HAL::HAL& hal;
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#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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// hal.console can be accessed from bus threads on ChibiOS
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#define debug(fmt, args ...) do {hal.console->printf("IMU: " fmt "\n", ## args); } while(0)
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#else
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#define debug(fmt, args ...) do {printf("IMU: " fmt "\n", ## args); } while(0)
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#endif
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void AP_InertialSensor::enable_fast_rate_buffer()
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{
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fast_rate_buffer = NEW_NOTHROW FastRateBuffer();
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}
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void AP_InertialSensor::disable_fast_rate_buffer()
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{
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delete fast_rate_buffer;
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fast_rate_buffer = nullptr;
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}
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uint32_t AP_InertialSensor::get_num_gyro_samples()
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{
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return fast_rate_buffer->get_num_gyro_samples();
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}
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void AP_InertialSensor::set_rate_decimation(uint8_t rdec)
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{
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fast_rate_buffer->set_rate_decimation(rdec);
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}
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// are gyro samples being sourced from the rate loop buffer
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bool AP_InertialSensor::use_rate_loop_gyro_samples() const
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{
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return fast_rate_buffer != nullptr;
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}
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// whether or not to push the current gyro sample
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bool AP_InertialSensor::is_rate_loop_gyro_enabled(uint8_t instance) const
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{
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return use_rate_loop_gyro_samples() && fast_rate_buffer->use_rate_loop_gyro_samples() && instance == AP::ahrs().get_primary_gyro_index();
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}
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bool AP_InertialSensor::get_next_gyro_sample(Vector3f& gyro)
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{
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if (!use_rate_loop_gyro_samples()) {
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return false;
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}
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return fast_rate_buffer->get_next_gyro_sample(gyro);
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}
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bool FastRateBuffer::get_next_gyro_sample(Vector3f& gyro)
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{
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if (!use_rate_loop_gyro_samples()) {
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return false;
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}
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if (_rate_loop_gyro_window.available() == 0) {
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_notifier.wait_blocking();
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}
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WITH_SEMAPHORE(_mutex);
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return _rate_loop_gyro_window.pop(gyro);
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}
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bool AP_InertialSensor::push_next_gyro_sample(const Vector3f& gyro)
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{
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if (++fast_rate_buffer->rate_decimation_count < fast_rate_buffer->rate_decimation) {
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return false;
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}
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/*
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tell the rate thread we have a new sample
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*/
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WITH_SEMAPHORE(fast_rate_buffer->_mutex);
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if (!fast_rate_buffer->_rate_loop_gyro_window.push(gyro)) {
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debug("dropped rate loop sample");
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}
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fast_rate_buffer->rate_decimation_count = 0;
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fast_rate_buffer->_notifier.signal();
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return true;
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}
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void AP_InertialSensor::update_backend_filters()
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{
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for (uint8_t i=0; i<_backend_count; i++) {
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_backends[i]->update_filters();
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}
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}
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void AP_InertialSensor_Backend::update_filters()
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{
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WITH_SEMAPHORE(_sem);
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update_accel_filters(accel_instance);
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update_gyro_filters(gyro_instance);
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}
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#endif // AP_INERTIALSENSOR_RATE_LOOP_WINDOW_ENABLED
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