mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
[Rotwing] Changes to ground detect and add hx711 based strain gauges (#3616)
* changes to ground detect and hx711 * keep reverse thrust even if ground_detect cuts out e.g. during tip over * force sensor struct * update pprzlink
This commit is contained in:
NoahWe
GitHub
@@ -275,6 +275,12 @@
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<field name="actuators_t4_extra_data_in_ptr" type="float *">Pointer pointing at the actuators_t4_extra_data_in array</field>
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</message>
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<message name="FORCE_SENSOR" id="42">
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<field name="stamp" type="uint32_t" unit="us">Timestamp in micro-seconds</field>
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<field name="count" type="uint8_t">Number of force sensor values in the array</field>
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<field name="values" type="int32_t *">Pointer to force sensor values (driver raw units)</field>
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</message>
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</msg_class>
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</protocol>
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@@ -263,8 +263,8 @@
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</section>
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<section name="GROUND_DETECT">
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<define name="THRESHOLD_GROUND_DETECT" value="40"/>
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<define name="USE_GROUND_DETECT_INDI_THRUST" value="FALSE"/>
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<define name="USE_GROUND_DETECT_AGL_DIST" value="TRUE"/>
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<define name="GROUND_DETECT_USE_INDI_THRUST" value="FALSE"/>
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<define name="GROUND_DETECT_USE_AGL_DIST" value="TRUE"/>
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<define name="GROUND_DETECT_SENSOR_AGL_MIN_VALUE" value="0.24"/>
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<define name="AGL_DIST_MIN_DISTANCE_CHECK" value="0.20"/>
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<define name="AGL_DIST_MAX_DISTANCE_CHECK" value="0.25"/>
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@@ -51,7 +51,7 @@
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<!-- Ground detect -->
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<define name="GROUND_DETECT_SENSOR_AGL_MIN_VALUE" value="0.24"/>
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<define name="USE_GROUND_DETECT_AGL_DIST" value="TRUE"/>
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<define name="GROUND_DETECT_USE_AGL_DIST" value="TRUE"/>
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<!-- AGL distance -->
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<define name="AGL_DIST_FILTER" value="0.07"/>
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@@ -53,10 +53,11 @@
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<define name="DEFAULT_CIRCLE_RADIUS" value="100.0"/>
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<!-- Ground detect -->
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<define name="USE_GROUND_DETECT_INDI_THRUST" value="TRUE"/>
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<define name="USE_GROUND_DETECT_AGL_DIST" value="TRUE"/>
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<define name="GROUND_DETECT_SPECIFIC_THRUST_THRESHOLD" value="-12.0"/>
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<define name="GROUND_DETECT_SENSOR_AGL_MIN_VALUE" value="0.24"/>
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<define name="GROUND_DETECT_USE_INDI_THRUST" value="TRUE"/>
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<define name="GROUND_DETECT_USE_AGL_DIST" value="TRUE"/>
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<define name="GROUND_DETECT_SPECIFIC_THRUST_THRESHOLD" value="-5.0"/>
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<define name="GROUND_DETECT_AGL_MIN_VALUE" value="0.24"/>
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<define name="GROUND_DETECT_VERTICAL_SPEED_THRESHOLD" value="0.1"/>
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<!-- Flight plan defines -->
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<define name="FLARE_HEIGHT" value="12"/>
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@@ -265,8 +265,8 @@
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<section name="GROUND_DETECT">
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<define name="THRESHOLD_GROUND_DETECT" value="40"/>
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<define name="USE_GROUND_DETECT_INDI_THRUST" value="FALSE"/>
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<define name="USE_GROUND_DETECT_AGL_DIST" value="TRUE"/>
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<define name="GROUND_DETECT_USE_INDI_THRUST" value="FALSE"/>
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<define name="GROUND_DETECT_USE_AGL_DIST" value="TRUE"/>
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<define name="GROUND_DETECT_AGL_MIN_VALUE" value="0.24"/>
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<define name="AGL_DIST_MIN_DISTANCE_CHECK" value="0.20"/>
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<define name="AGL_DIST_MAX_DISTANCE_CHECK" value="0.25"/>
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@@ -267,8 +267,8 @@
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<section name="GROUND_DETECT">
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<define name="THRESHOLD_GROUND_DETECT" value="40"/>
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<define name="USE_GROUND_DETECT_INDI_THRUST" value="FALSE"/>
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<define name="USE_GROUND_DETECT_AGL_DIST" value="TRUE"/>
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<define name="GROUND_DETECT_USE_INDI_THRUST" value="FALSE"/>
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<define name="GROUND_DETECT_USE_AGL_DIST" value="TRUE"/>
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<define name="GROUND_DETECT_AGL_MIN_VALUE" value="0.24"/>
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<define name="AGL_DIST_MIN_DISTANCE_CHECK" value="0.20"/>
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<define name="AGL_DIST_MAX_DISTANCE_CHECK" value="0.25"/>
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@@ -256,8 +256,8 @@
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</section>
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<section name="GROUND_DETECT">
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<define name="THRESHOLD_GROUND_DETECT" value="40"/>
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<define name="USE_GROUND_DETECT_INDI_THRUST" value="FALSE"/>
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<define name="USE_GROUND_DETECT_AGL_DIST" value="TRUE"/>
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<define name="GROUND_DETECT_USE_INDI_THRUST" value="FALSE"/>
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<define name="GROUND_DETECT_USE_AGL_DIST" value="TRUE"/>
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<define name="GROUND_DETECT_AGL_MIN_VALUE" value="0.24"/>
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<define name="AGL_DIST_MIN_DISTANCE_CHECK" value="0.20"/>
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<define name="AGL_DIST_MAX_DISTANCE_CHECK" value="0.25"/>
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@@ -224,8 +224,8 @@
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</section>
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<section name="GROUND_DETECT">
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<define name="THRESHOLD_GROUND_DETECT" value="40"/>
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<define name="USE_GROUND_DETECT_INDI_THRUST" value="FALSE"/>
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<define name="USE_GROUND_DETECT_AGL_DIST" value="TRUE"/>
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<define name="GROUND_DETECT_USE_INDI_THRUST" value="FALSE"/>
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<define name="GROUND_DETECT_USE_AGL_DIST" value="TRUE"/>
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<define name="GROUND_DETECT_AGL_MIN_VALUE" value="0.24"/>
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<define name="AGL_DIST_MIN_DISTANCE_CHECK" value="0.20"/>
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<define name="AGL_DIST_MAX_DISTANCE_CHECK" value="0.25"/>
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@@ -261,8 +261,8 @@
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</section>
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<section name="GROUND_DETECT">
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<define name="THRESHOLD_GROUND_DETECT" value="40"/>
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<define name="USE_GROUND_DETECT_INDI_THRUST" value="FALSE"/>
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<define name="USE_GROUND_DETECT_AGL_DIST" value="TRUE"/>
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<define name="GROUND_DETECT_USE_INDI_THRUST" value="FALSE"/>
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<define name="GROUND_DETECT_USE_AGL_DIST" value="TRUE"/>
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<define name="GROUND_DETECT_AGL_MIN_VALUE" value="0.24"/>
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<define name="AGL_DIST_MIN_DISTANCE_CHECK" value="0.20"/>
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<define name="AGL_DIST_MAX_DISTANCE_CHECK" value="0.25"/>
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@@ -261,8 +261,8 @@
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</section>
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<section name="GROUND_DETECT">
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<define name="THRESHOLD_GROUND_DETECT" value="40"/>
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<define name="USE_GROUND_DETECT_INDI_THRUST" value="FALSE"/>
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<define name="USE_GROUND_DETECT_AGL_DIST" value="TRUE"/>
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<define name="GROUND_DETECT_USE_INDI_THRUST" value="FALSE"/>
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<define name="GROUND_DETECT_USE_AGL_DIST" value="TRUE"/>
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<define name="GROUND_DETECT_AGL_MIN_VALUE" value="0.24"/>
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<define name="AGL_DIST_MIN_DISTANCE_CHECK" value="0.20"/>
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<define name="AGL_DIST_MAX_DISTANCE_CHECK" value="0.25"/>
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@@ -255,8 +255,8 @@
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</section>
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<section name="GROUND_DETECT">
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<define name="THRESHOLD_GROUND_DETECT" value="40"/>
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<define name="USE_GROUND_DETECT_INDI_THRUST" value="FALSE"/>
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<define name="USE_GROUND_DETECT_AGL_DIST" value="TRUE"/>
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<define name="GROUND_DETECT_USE_INDI_THRUST" value="FALSE"/>
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<define name="GROUND_DETECT_USE_AGL_DIST" value="TRUE"/>
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<define name="GROUND_DETECT_AGL_MIN_VALUE" value="0.24"/>
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<define name="AGL_DIST_MIN_DISTANCE_CHECK" value="0.20"/>
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<define name="AGL_DIST_MAX_DISTANCE_CHECK" value="0.25"/>
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@@ -42,6 +42,17 @@
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<!-- <define name="IMU_LOG_HIGHSPEED" value="TRUE"/> -->
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<define name="I2C2_CLOCK_SPEED" value="100000"/>
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<!-- Strain gauges connected to hx711 load cell -->
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<module name="hx711">
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<define name="HX711_DEVICES_NB" value="4"/>
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<define name="HX711_DEVICES" value="{PWM_SERVO_2_GPIO,PWM_SERVO_2_PIN,0},{PWM_SERVO_3_GPIO,PWM_SERVO_3_PIN,0},{PWM_SERVO_4_GPIO,PWM_SERVO_4_PIN,0},{PWM_SERVO_5_GPIO,PWM_SERVO_5_PIN,0}"/>
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<define name="HX711_DEBUG" value="true"/>
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</module>
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<define name="GROUND_DETECT_USE_FORCE_SENSOR" value="TRUE"/>
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<define name="GROUND_DETECT_FORCE_SENSOR_THRESHOLD" value="100000"/>
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<define name="GROUND_DETECT_FORCE_SENSOR_MEDIAN_FILT_SIZE" value="3"/>
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</target>
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<target name="nps" board="pc">
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@@ -218,7 +218,7 @@
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<exception cond="GetPosHeight() @LT flare_height" deroute="flare"/>
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<stay climb="-1.0" vmode="climb" wp="TD"/>
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</block>
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<block name="flare">
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<block name="flare" on_enter="ground_detect_set_offset_sensors(true)">
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<call_once fun="rotwing_state_set(ROTWING_STATE_FORCE_HOVER)"/>
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<stay climb="-0.5" vmode="climb" wp="TD"/>
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<!--<exception cond="!(GetPosHeight() @LT 2.0)" deroute="flare_low"/>-->
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@@ -1,15 +1,31 @@
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<!DOCTYPE module SYSTEM "module.dtd">
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<module name="ground_detect" dir="nav">
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<doc>
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<description>Ground detection module to detect ground</description>
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<define name="USE_GROUND_DETECT_INDI_THRUST" value="1" description="Use INDI thrust less than 50 percent as detection"/>
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<description>
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Ground detection module to detect ground.
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</description>
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<define name="GROUND_DETECT_USE_INDI_THRUST" value="1" description="Use INDI thrust less than 50 percent as detection"/>
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<define name="GROUND_DETECT_SPECIFIC_THRUST_THRESHOLD" value="-5.0" description="[m/s2] positive down"/>
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<define name="USE_GROUND_DETECT_AGL_DIST" value="0" description="Use agl_dist_filtered"/>
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<define name="GROUND_DETECT_USE_AGL_DIST" value="0" description="Use agl_dist_filtered"/>
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<define name="GROUND_DETECT_AGL_MIN_VALUE" value="0.1" description="AGL value low enough to be used as ground detection [m]"/>
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<define name="GROUND_DETECT_USE_FORCE_SENSOR" value="0" description="Use FORCE_SENSOR ABI for ground detection"/>
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<define name="GROUND_DETECT_FORCE_SENSOR_THRESHOLD" value="100000" description="Threshold on filtered force sensor value to detect ground"/>
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<define name="GROUND_DETECT_FORCE_SENSOR_MEDIAN_FILT_SIZE" value="3" description="Median filter size for force sensor processing"/>
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<define name="GROUND_DETECT_COUNTER_TRIGGER" value="10" description="Number of times a trigger must be valid to accept ground detection."/>
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</doc>
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<settings>
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<dl_settings>
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<dl_settings name="Ground Detect">
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<dl_setting var="reverse_th_level" min="-9600" max="0" step="1" shortname="Reverse thrust level"/>
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<dl_setting var="set_offset_sensors" min="0" max="1" step="1" values="FALSE|TRUE" type="fun" handler="set_offset_sensors" module="modules/nav/ground_detect"/>
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<dl_setting var="force_sensor_ground_threshold" min="-1000000" max="1000000" step="1000" shortname="ground_threshold"/>
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</dl_settings>
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</dl_settings>
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</settings>
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<header>
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<file name="ground_detect.h"/>
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</header>
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@@ -20,7 +36,7 @@
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<file name="ground_detect.c"/>
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<test firmware="rotorcraft">
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<define name="PERIODIC_FREQUENCY" value="512"/>
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<define name="USE_GROUND_DETECT_INDI_THRUST" value="1"/>
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<define name="GROUND_DETECT_USE_INDI_THRUST" value="1"/>
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<define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
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<define name="DOWNLINK_DEVICE" value="uart0"/>
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<define name="USE_UART0"/>
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@@ -0,0 +1,32 @@
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<!DOCTYPE module SYSTEM "module.dtd">
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<module name="hx711" dir="sensors">
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<doc>
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<description>
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Reading of multiple HX711 strain gauge sensors.
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</description>
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<define name="HX711_GAIN" value="1" description="The gain of the sensor in pulses (128: 1)"/>
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<define name="HX711_PWM_FREQUENCY" value="6000000" description="Frequency of the generated PWM signal for clock precision of 0.5MHz"/>
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<configure name="HX711_CLOCK" default="PWM_SERVO_1" description="PWM to use for the clock"/>
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<define name="HX711_DEVICES_NB" value="4" description="The amount of sensors to read"/>
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<define name="HX711_DEVICES" value="{{port,pin,0},{port,pin,0},{port,pin,0},{port,pin,0}}" description="The list of sensor port/pin pairs to read"/>
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</doc>
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<header>
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<file name="hx711.h"/>
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</header>
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<init fun="hx711_init()"/>
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<event fun="hx711_event()"/>
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<makefile target="ap">
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<configure name="HX711_CLOCK" default="PWM_SERVO_1"/>
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<define name="HX711_PWM_PORT" value="$(HX711_CLOCK)_GPIO"/>
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<define name="HX711_PWM_PIN" value="$(HX711_CLOCK)_PIN"/>
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<define name="HX711_PWM_AF" value="$(HX711_CLOCK)_AF"/>
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<define name="HX711_PWM_CHANNEL" value="$(HX711_CLOCK)_CHANNEL"/>
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<define name="HX711_PWM_DRIVER" value="$(HX711_CLOCK)_DRIVER"/>
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<file_arch name="hx711.c"/>
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</makefile>
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</module>
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@@ -66,6 +66,7 @@
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<message name="FUELCELL" period="1.5"/>
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<message name="POWER_DEVICE" period="0.12"/>
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<message name="IMU_HEATER" period="15.1"/>
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<message name="GROUND_DETECT" period="0.13"/>
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</mode>
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<mode name="sim" key_press="d">
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@@ -387,6 +388,7 @@
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<message name="POWER_DEVICE" period="0.02"/>
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<message name="FUELCELL" period="1.5"/>
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<message name="AIRSPEED_RAW" period="0.02"/>
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<message name="GROUND_DETECT" period="0.023"/>
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</mode>
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</process>
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@@ -0,0 +1,242 @@
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/*
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* Copyright (C) Freek van Tienen <freek.v.tienen@gmail.com>
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*
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* This file is part of paparazzi.
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*
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* paparazzi 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 2, or (at your option)
|
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* any later version.
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*
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* paparazzi 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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*
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* You should have received a copy of the GNU General Public License
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
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* the Free Software Foundation, 59 Temple Place - Suite 330,
|
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* Boston, MA 02111-1307, USA.
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*/
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/**
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* @file arch/chibios/modules/sensors/hx711.c
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* Interface for the HX711 sensor
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*
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*/
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#include "hx711.h"
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#include "mcu_periph/gpio.h"
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#include "mcu_periph/sys_time.h"
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#include "modules/core/abi.h"
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#include "modules/datalink/downlink.h"
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#include "modules/datalink/telemetry.h"
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#include BOARD_CONFIG
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#ifndef HX711_DEVICES_NB
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#define HX711_DEVICES_NB 4
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#endif
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#ifndef HX711_GAIN
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#define HX711_GAIN 1
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#endif
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#ifndef HX711_PWM_FREQUENCY
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#define HX711_PWM_FREQUENCY 6000000
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#endif
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#ifndef HX711_DEVICES
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#define HX711_DEVICES {}
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#endif
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#ifndef HX711_FORCE_SENSOR_ID
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#define HX711_FORCE_SENSOR_ID ABI_BROADCAST
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#endif
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#ifndef HX711_DEBUG
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#define HX711_DEBUG false
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#endif
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#if HX711_DEBUG
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#include <stdio.h>
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#endif
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// Running at 50kHz for a full clock pulse (10us high, 10us low)
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#define HX711_PERIOD (HX711_PWM_FREQUENCY / 50000)
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|
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float hx711_meas_time = 0;
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struct hx711_dev_t {
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ioportid_t data_port;
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uint16_t data_pin;
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int32_t measurement;
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};
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struct hx711_t {
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volatile bool busy;
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volatile bool measurement_ready;
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struct hx711_dev_t devices[HX711_DEVICES_NB];
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volatile uint8_t read_bit_idx;
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};
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static void pwmpcb(PWMDriver *pwmp __attribute__((unused)));
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static volatile struct hx711_t hx711 = {
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.busy = false,
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.measurement_ready = false,
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.devices = {
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HX711_DEVICES
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},
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.read_bit_idx = 0
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};
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|
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static PWMConfig pwmcfg = {
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.frequency = HX711_PWM_FREQUENCY,
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.period = HX711_PERIOD,
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.callback = NULL,
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.channels = {
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{ PWM_OUTPUT_DISABLED, NULL },
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{ PWM_OUTPUT_DISABLED, NULL },
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{ PWM_OUTPUT_DISABLED, NULL },
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{ PWM_OUTPUT_DISABLED, NULL },
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},
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.cr2 = 0,
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.bdtr = 0,
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.dier = 0
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};
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void hx711_init(void)
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{
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/*----------------
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* Configure GPIO
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*----------------*/
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gpio_setup_pin_af(HX711_PWM_PORT, HX711_PWM_PIN, HX711_PWM_AF, true);
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pwmcfg.channels[HX711_PWM_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
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pwmcfg.channels[HX711_PWM_CHANNEL].callback = pwmpcb;
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for(uint8_t i = 0; i < HX711_DEVICES_NB; i++) {
|
||||
gpio_setup_input(hx711.devices[i].data_port, hx711.devices[i].data_pin);
|
||||
}
|
||||
|
||||
/*---------------
|
||||
* Configure PWM
|
||||
*---------------*/
|
||||
pwmStart(&HX711_PWM_DRIVER, &pwmcfg);
|
||||
hx711.busy = false;
|
||||
hx711.measurement_ready = false;
|
||||
hx711.read_bit_idx = 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* Start a measurement and publish the results when possible
|
||||
*/
|
||||
void hx711_event(void)
|
||||
{
|
||||
// If busy reading data, return
|
||||
if(hx711.busy)
|
||||
return;
|
||||
|
||||
// Check if we have a measurement to read
|
||||
if(hx711.measurement_ready) {
|
||||
int32_t values[HX711_DEVICES_NB];
|
||||
for(uint8_t i = 0; i < HX711_DEVICES_NB; i++) {
|
||||
values[i] = hx711.devices[i].measurement;
|
||||
}
|
||||
|
||||
AbiSendMsgFORCE_SENSOR(HX711_FORCE_SENSOR_ID, get_sys_time_usec(), HX711_DEVICES_NB, values);
|
||||
|
||||
// Send down for debug
|
||||
float raw_val[HX711_DEVICES_NB];
|
||||
for(uint8_t i = 0; i < HX711_DEVICES_NB; i++) {
|
||||
raw_val[i] = values[i];
|
||||
}
|
||||
|
||||
#if HX711_DEBUG
|
||||
float current_time = get_sys_time_float();
|
||||
float freq = 1 / (current_time - hx711_meas_time);
|
||||
hx711_meas_time = current_time;
|
||||
|
||||
char hx711_str[10];
|
||||
char hx711_freq_str[15];
|
||||
int hx711_len = snprintf(hx711_str, sizeof(hx711_str), "HX711");
|
||||
int hx711_freq_len = snprintf(hx711_freq_str, sizeof(hx711_freq_str), "HX711 freq");
|
||||
RunOnceEvery(10, {
|
||||
DOWNLINK_SEND_DEBUG_VECT(DefaultChannel, DefaultDevice, hx711_len, hx711_str, HX711_DEVICES_NB, raw_val);
|
||||
});
|
||||
RunOnceEvery(15, {
|
||||
DOWNLINK_SEND_DEBUG_VECT(DefaultChannel, DefaultDevice, hx711_freq_len, hx711_freq_str, 1, &freq);
|
||||
});
|
||||
pprz_msg_send_DEBUG_VECT(&pprzlog_tp.trans_tx, &flightrecorder_sdlog.device, AC_ID, hx711_len, hx711_str, HX711_DEVICES_NB, raw_val);
|
||||
pprz_msg_send_DEBUG_VECT(&pprzlog_tp.trans_tx, &flightrecorder_sdlog.device, AC_ID, hx711_freq_len, hx711_freq_str, 1, &freq);
|
||||
#endif
|
||||
|
||||
hx711.measurement_ready = false;
|
||||
}
|
||||
|
||||
// Check if all data pins are low, ready to read data
|
||||
for(uint8_t i = 0; i < HX711_DEVICES_NB; i++) {
|
||||
if(gpio_get(hx711.devices[i].data_port, hx711.devices[i].data_pin) != 0)
|
||||
return;
|
||||
}
|
||||
|
||||
// Start reading data
|
||||
chSysLock();
|
||||
hx711.busy = true;
|
||||
hx711.measurement_ready = false;
|
||||
hx711.read_bit_idx = 0;
|
||||
pwmEnableChannel(&HX711_PWM_DRIVER, HX711_PWM_CHANNEL, HX711_PERIOD/2); // 50% duty cycle
|
||||
pwmEnableChannelNotification(&HX711_PWM_DRIVER, HX711_PWM_CHANNEL);
|
||||
chSysUnlock();
|
||||
}
|
||||
|
||||
/**
|
||||
* Callback on the falling edge of the clock signal
|
||||
*/
|
||||
static void pwmpcb(PWMDriver *pwmp __attribute__((unused))) {
|
||||
chSysLockFromISR();
|
||||
|
||||
/* In case we where not reading just stop */
|
||||
if(!hx711.busy) {
|
||||
pwmDisableChannelNotificationI(&HX711_PWM_DRIVER, HX711_PWM_CHANNEL);
|
||||
pwmDisableChannelI(&HX711_PWM_DRIVER, HX711_PWM_CHANNEL);
|
||||
chSysUnlockFromISR();
|
||||
return;
|
||||
}
|
||||
|
||||
/* Parse the measurements for all devices */
|
||||
if(hx711.read_bit_idx < 24) {
|
||||
for(uint8_t i = 0; i < HX711_DEVICES_NB; i++) {
|
||||
volatile struct hx711_dev_t *dev = &hx711.devices[i];
|
||||
|
||||
// Reset or bitshift
|
||||
if(hx711.read_bit_idx == 0)
|
||||
dev->measurement = 0;
|
||||
else
|
||||
dev->measurement <<= 1;
|
||||
|
||||
// Read the bit
|
||||
if(gpio_get(dev->data_port, dev->data_pin) != 0)
|
||||
dev->measurement |= 1;
|
||||
|
||||
// Fix 2s complement for 32 bit signed integer from 24 bit
|
||||
if(dev->measurement & (1 << 23)) {
|
||||
dev->measurement |= 0xFF000000;
|
||||
}
|
||||
}
|
||||
}
|
||||
hx711.read_bit_idx++;
|
||||
|
||||
/* Send gain and finish reading data */
|
||||
if(hx711.read_bit_idx >= (24 + HX711_GAIN)) {
|
||||
pwmDisableChannelNotificationI(&HX711_PWM_DRIVER, HX711_PWM_CHANNEL);
|
||||
pwmDisableChannelI(&HX711_PWM_DRIVER, HX711_PWM_CHANNEL);
|
||||
hx711.busy = false;
|
||||
hx711.measurement_ready = true;
|
||||
chSysUnlockFromISR();
|
||||
return;
|
||||
}
|
||||
|
||||
chSysUnlockFromISR();
|
||||
}
|
||||
@@ -0,0 +1,36 @@
|
||||
/*
|
||||
* Copyright (C) Freek van Tienen <freek.v.tienen@gmail.com>
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
*
|
||||
* paparazzi is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* paparazzi is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file arch/chibios/modules/sensors/hx711.h
|
||||
* Interface for the HX711 sensor
|
||||
*
|
||||
*/
|
||||
|
||||
#include "std.h"
|
||||
|
||||
#ifndef HX711_H
|
||||
#define HX711_H
|
||||
|
||||
void hx711_init(void);
|
||||
void hx711_event(void);
|
||||
|
||||
#endif /* HX711_H */
|
||||
@@ -24,48 +24,207 @@
|
||||
*/
|
||||
|
||||
#include "ground_detect.h"
|
||||
#include "filters/low_pass_filter.h"
|
||||
#include "filters/median_filter.h"
|
||||
#include "firmwares/rotorcraft/autopilot_firmware.h"
|
||||
#include "modules/core/abi.h"
|
||||
|
||||
#include "state.h"
|
||||
|
||||
#if USE_GROUND_DETECT_INDI_THRUST
|
||||
#include "firmwares/rotorcraft/stabilization/stabilization_indi.h"
|
||||
#include "pprzlink/messages.h"
|
||||
#include "modules/datalink/downlink.h"
|
||||
|
||||
/* Number of triggers which need to be active to assume ground has been detected */
|
||||
#ifndef GROUND_DETECT_NUM_TRIGGERS
|
||||
#define GROUND_DETECT_NUM_TRIGGERS 3
|
||||
#endif
|
||||
|
||||
#if USE_GROUND_DETECT_AGL_DIST
|
||||
#if GROUND_DETECT_USE_INDI_THRUST
|
||||
#include "firmwares/rotorcraft/stabilization/stabilization_indi.h"
|
||||
#endif
|
||||
PRINT_CONFIG_VAR(GROUND_DETECT_USE_INDI_THRUST)
|
||||
|
||||
#if GROUND_DETECT_USE_AGL_DIST
|
||||
#include "modules/sonar/agl_dist.h"
|
||||
#ifndef GROUND_DETECT_AGL_MIN_VALUE
|
||||
#define GROUND_DETECT_AGL_MIN_VALUE 0.1
|
||||
#endif
|
||||
#endif
|
||||
PRINT_CONFIG_VAR(GROUND_DETECT_USE_AGL_DIST)
|
||||
|
||||
#ifndef GROUND_DETECT_USE_FORCE_SENSOR
|
||||
#define GROUND_DETECT_USE_FORCE_SENSOR 0
|
||||
#endif
|
||||
|
||||
#ifndef GROUND_DETECT_FORCE_SENSOR_THRESHOLD
|
||||
#define GROUND_DETECT_FORCE_SENSOR_THRESHOLD 100000
|
||||
#endif
|
||||
|
||||
#ifndef GROUND_DETECT_FORCE_SENSOR_MEDIAN_FILT_SIZE
|
||||
#define GROUND_DETECT_FORCE_SENSOR_MEDIAN_FILT_SIZE 3
|
||||
#endif
|
||||
|
||||
#ifndef FORCE_SENSOR_MAX_NB
|
||||
#define FORCE_SENSOR_MAX_NB 16
|
||||
#endif
|
||||
|
||||
#if GROUND_DETECT_USE_FORCE_SENSOR
|
||||
#ifndef GROUND_DETECT_FORCE_SENSOR_ID
|
||||
#define GROUND_DETECT_FORCE_SENSOR_ID ABI_BROADCAST
|
||||
#endif
|
||||
#endif
|
||||
PRINT_CONFIG_VAR(GROUND_DETECT_USE_FORCE_SENSOR)
|
||||
|
||||
#ifndef GROUND_DETECT_REVERSE_THRUST_ON_GROUND_DETECTED
|
||||
#define GROUND_DETECT_REVERSE_THRUST_ON_GROUND_DETECTED false
|
||||
#endif
|
||||
PRINT_CONFIG_VAR(GROUND_DETECT_REVERSE_THRUST_ON_GROUND_DETECTED)
|
||||
|
||||
#if GROUND_DETECT_REVERSE_THRUST_ON_GROUND_DETECTED
|
||||
#ifndef GROUND_DETECT_REVERSE_THRUST_LEVEL
|
||||
#error "GROUND_DETECT_REVERSE_THRUST_LEVEL needs to be defined if GROUND_DETECT_REVERSE_THRUST_ON_GROUND_DETECTED is true"
|
||||
#endif
|
||||
uint16_t reverse_th_level = GROUND_DETECT_REVERSE_THRUST_LEVEL;
|
||||
#else
|
||||
uint16_t reverse_th_level = 0;
|
||||
#endif
|
||||
|
||||
#ifndef GROUND_DETECT_SPECIFIC_THRUST_THRESHOLD
|
||||
#define GROUND_DETECT_SPECIFIC_THRUST_THRESHOLD -5.0
|
||||
#endif
|
||||
PRINT_CONFIG_VAR(GROUND_DETECT_SPECIFIC_THRUST_THRESHOLD)
|
||||
|
||||
#include "pprzlink/messages.h"
|
||||
#include "modules/datalink/downlink.h"
|
||||
#ifndef GROUND_DETECT_VERTICAL_SPEED_THRESHOLD
|
||||
#define GROUND_DETECT_VERTICAL_SPEED_THRESHOLD 0.1
|
||||
#endif
|
||||
PRINT_CONFIG_VAR(GROUND_DETECT_VERTICAL_SPEED_THRESHOLD)
|
||||
|
||||
#ifndef GROUND_DETECT_VERTICAL_ACCEL_THRESHOLD
|
||||
#define GROUND_DETECT_VERTICAL_ACCEL_THRESHOLD -3.0
|
||||
#endif
|
||||
PRINT_CONFIG_VAR(GROUND_DETECT_VERTICAL_ACCEL_THRESHOLD)
|
||||
|
||||
#ifndef GROUND_DETECT_COUNTER_TRIGGER
|
||||
#define GROUND_DETECT_COUNTER_TRIGGER 5
|
||||
#endif
|
||||
|
||||
// Cutoff frequency of accelerometer filter in Hz
|
||||
#ifndef GROUND_DETECT_FILT_FREQ
|
||||
#define GROUND_DETECT_FILT_FREQ 5.0
|
||||
|
||||
Butterworth2LowPass accel_filter;
|
||||
#endif
|
||||
|
||||
bool disarm_on_not_in_flight = false;
|
||||
|
||||
int32_t counter = 0;
|
||||
bool ground_detected = false;
|
||||
|
||||
#define DEBUG_GROUND_DETECT TRUE
|
||||
bool reverse_thrust = false;
|
||||
|
||||
union ground_detect_bitmask_t ground_detect_status;
|
||||
struct ground_detect_values_t ground_detect_values;
|
||||
|
||||
float force_sensor_ground_threshold = GROUND_DETECT_FORCE_SENSOR_THRESHOLD;
|
||||
|
||||
struct force_sensor_data_t {
|
||||
uint8_t count;
|
||||
int32_t offsets[FORCE_SENSOR_MAX_NB];
|
||||
int32_t values_filt[FORCE_SENSOR_MAX_NB];
|
||||
};
|
||||
|
||||
static struct force_sensor_data_t force_sensor = {0};
|
||||
|
||||
#if GROUND_DETECT_USE_FORCE_SENSOR
|
||||
static struct MedianFilterInt force_sensor_filt[FORCE_SENSOR_MAX_NB];
|
||||
static bool force_sensor_valid = false;
|
||||
static abi_event force_sensor_ev;
|
||||
|
||||
static void force_sensor_autoset_offset(void)
|
||||
{
|
||||
if (!force_sensor_valid) {
|
||||
return;
|
||||
}
|
||||
|
||||
for (uint8_t i = 0; i < force_sensor.count; i++) {
|
||||
force_sensor.offsets[i] += force_sensor.values_filt[i];
|
||||
}
|
||||
}
|
||||
|
||||
static void force_sensor_cb(uint8_t sender_id UNUSED, uint32_t stamp UNUSED, uint8_t count, int32_t *values)
|
||||
{
|
||||
uint8_t n = count;
|
||||
if (n > FORCE_SENSOR_MAX_NB) {
|
||||
n = FORCE_SENSOR_MAX_NB;
|
||||
}
|
||||
|
||||
force_sensor.count = n;
|
||||
force_sensor_valid = true;
|
||||
for (uint8_t i = 0; i < n; i++) {
|
||||
force_sensor.values_filt[i] = update_median_filter_i(&force_sensor_filt[i], values[i] - force_sensor.offsets[i]);
|
||||
}
|
||||
}
|
||||
|
||||
static bool force_sensor_detect_ground(void)
|
||||
{
|
||||
if (!force_sensor_valid) {
|
||||
return false;
|
||||
}
|
||||
|
||||
for (uint8_t i = 0; i < force_sensor.count; i++) {
|
||||
if (fabsf((float)force_sensor.values_filt[i]) > force_sensor_ground_threshold) {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
return false;
|
||||
}
|
||||
#endif
|
||||
|
||||
#if PERIODIC_TELEMETRY
|
||||
#include "modules/datalink/telemetry.h"
|
||||
static void send_ground_detect(struct transport_tx *trans, struct link_device *dev)
|
||||
{
|
||||
uint8_t _ground_detected = ground_detected;
|
||||
|
||||
pprz_msg_send_GROUND_DETECT(trans, dev, AC_ID,
|
||||
&_ground_detected,
|
||||
&ground_detect_values.speed_down,
|
||||
&ground_detect_values.spec_thrust_down,
|
||||
&ground_detect_values.accel_down_filt.o[0],
|
||||
&ground_detect_values.agl_dist_value_filtered,
|
||||
force_sensor.count, force_sensor.values_filt,
|
||||
&ground_detect_status.value
|
||||
);
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
void ground_detect_init()
|
||||
{
|
||||
// Initialize the ground detection status
|
||||
ground_detect_status.value = 0;
|
||||
ground_detect_values.speed_down = 0.0;
|
||||
ground_detect_values.spec_thrust_down = 0.0;
|
||||
ground_detect_values.agl_dist_value_filtered = 0.0;
|
||||
force_sensor.count = 1; // Needed for force sensor field in ground detect message
|
||||
for (uint8_t i = 0; i < FORCE_SENSOR_MAX_NB; i++) {
|
||||
force_sensor.offsets[i] = 0;
|
||||
force_sensor.values_filt[i] = 0;
|
||||
}
|
||||
|
||||
float tau = 1.0 / (2.0 * M_PI * GROUND_DETECT_FILT_FREQ);
|
||||
float sample_time = 1.0 / PERIODIC_FREQUENCY;
|
||||
init_butterworth_2_low_pass(&accel_filter, tau, sample_time, 0.0);
|
||||
init_butterworth_2_low_pass(&ground_detect_values.accel_down_filt, tau, sample_time, 0.0);
|
||||
|
||||
#if GROUND_DETECT_USE_FORCE_SENSOR
|
||||
for (uint8_t i = 0; i < FORCE_SENSOR_MAX_NB; i++) {
|
||||
init_median_filter_i(&force_sensor_filt[i], GROUND_DETECT_FORCE_SENSOR_MEDIAN_FILT_SIZE);
|
||||
}
|
||||
force_sensor.count = 0;
|
||||
force_sensor_valid = false;
|
||||
AbiBindMsgFORCE_SENSOR(GROUND_DETECT_FORCE_SENSOR_ID, &force_sensor_ev, force_sensor_cb);
|
||||
#endif
|
||||
|
||||
#if PERIODIC_TELEMETRY
|
||||
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_GROUND_DETECT, send_ground_detect);
|
||||
#endif
|
||||
}
|
||||
|
||||
bool ground_detect(void)
|
||||
@@ -86,7 +245,7 @@ void ground_detect_periodic()
|
||||
// Use the control effectiveness in thrust in order to estimate the thrust delivered (only works for multicopters)
|
||||
float specific_thrust = 0.0; // m/s2
|
||||
|
||||
#if USE_GROUND_DETECT_INDI_THRUST
|
||||
#if GROUND_DETECT_USE_INDI_THRUST
|
||||
uint8_t i;
|
||||
for (i = 0; i < INDI_NUM_ACT; i++) {
|
||||
specific_thrust += actuator_state_filt_vect[i] * g1g2[3][i] * -((int32_t) act_is_servo[i] - 1);
|
||||
@@ -94,26 +253,44 @@ void ground_detect_periodic()
|
||||
#endif
|
||||
|
||||
// vertical component
|
||||
float spec_thrust_down;
|
||||
struct FloatRMat *ned_to_body_rmat = stateGetNedToBodyRMat_f();
|
||||
spec_thrust_down = ned_to_body_rmat->m[8] * specific_thrust;
|
||||
ground_detect_values.spec_thrust_down = ned_to_body_rmat->m[8] * specific_thrust;
|
||||
|
||||
// Evaluate vertical speed (close to zero, not at terminal velocity)
|
||||
float vspeed_ned = stateGetSpeedNed_f()->z;
|
||||
ground_detect_values.speed_down = stateGetSpeedNed_f()->z;
|
||||
|
||||
// Detect free fall (to be done, rearm?)
|
||||
|
||||
// Detect noise level (to be done)
|
||||
|
||||
// Detect ground based on AND of all triggers
|
||||
if ((fabsf(vspeed_ned) < 5.0)
|
||||
&& (spec_thrust_down > GROUND_DETECT_SPECIFIC_THRUST_THRESHOLD)
|
||||
&& (fabsf(accel_filter.o[0]) < 2.0)
|
||||
#if USE_GROUND_DETECT_AGL_DIST
|
||||
&& (agl_dist_valid && (agl_dist_value_filtered < GROUND_DETECT_AGL_MIN_VALUE))
|
||||
// Detect ground based on AND of some triggers
|
||||
#if GROUND_DETECT_USE_FORCE_SENSOR
|
||||
ground_detect_status.force_sensor_trigger = force_sensor_detect_ground();
|
||||
#else
|
||||
ground_detect_status.force_sensor_trigger = false;
|
||||
#endif
|
||||
) {
|
||||
|
||||
ground_detect_status.vspeed_trigger = (fabsf(ground_detect_values.speed_down) < GROUND_DETECT_VERTICAL_SPEED_THRESHOLD)? 1:0;
|
||||
|
||||
#if GROUND_DETECT_USE_INDI_THRUST
|
||||
ground_detect_status.spec_thrust_trigger = (ground_detect_values.spec_thrust_down > GROUND_DETECT_SPECIFIC_THRUST_THRESHOLD)? 1:0;
|
||||
#else
|
||||
ground_detect_status.spec_thrust_trigger = false;
|
||||
#endif
|
||||
|
||||
ground_detect_status.accel_filt_trigger = (fabsf(ground_detect_values.accel_down_filt.o[0]) < GROUND_DETECT_VERTICAL_ACCEL_THRESHOLD)? 1:0;
|
||||
|
||||
#if GROUND_DETECT_USE_AGL_DIST
|
||||
ground_detect_status.agl_trigger = (agl_dist_valid && (agl_dist_value_filtered < GROUND_DETECT_AGL_MIN_VALUE))? 1:0;
|
||||
ground_detect_values.agl_dist_value_filtered = agl_dist_value_filtered;
|
||||
#else
|
||||
ground_detect_status.agl_trigger = false;
|
||||
#endif
|
||||
|
||||
int trigger_sum = 0;
|
||||
for(uint8_t i = 0; i < 16; i++) trigger_sum += (ground_detect_status.value >> i) & 0x1;
|
||||
|
||||
if (trigger_sum >= GROUND_DETECT_NUM_TRIGGERS) {
|
||||
counter += 1;
|
||||
if (counter > GROUND_DETECT_COUNTER_TRIGGER) {
|
||||
ground_detected = true;
|
||||
@@ -127,24 +304,6 @@ void ground_detect_periodic()
|
||||
ground_detected = false;
|
||||
counter = 0;
|
||||
}
|
||||
|
||||
#ifdef DEBUG_GROUND_DETECT
|
||||
float payload[7];
|
||||
payload[0] = vspeed_ned;
|
||||
payload[1] = spec_thrust_down;
|
||||
payload[2] = accel_filter.o[0];
|
||||
payload[3] = stateGetAccelNed_f()->z;
|
||||
#if USE_GROUND_DETECT_AGL_DIST
|
||||
payload[4] = agl_dist_valid;
|
||||
payload[5] = agl_dist_value_filtered;
|
||||
#else
|
||||
payload[4] = 0;
|
||||
payload[5] = 0;
|
||||
#endif
|
||||
payload[6] = 1.f * ground_detected;
|
||||
|
||||
RunOnceEvery(10, {DOWNLINK_SEND_PAYLOAD_FLOAT(DefaultChannel, DefaultDevice, 7, payload);});
|
||||
#endif
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -154,5 +313,33 @@ void ground_detect_periodic()
|
||||
void ground_detect_filter_accel(void)
|
||||
{
|
||||
struct NedCoor_f *accel = stateGetAccelNed_f();
|
||||
update_butterworth_2_low_pass(&accel_filter, accel->z);
|
||||
update_butterworth_2_low_pass(&ground_detect_values.accel_down_filt, accel->z);
|
||||
}
|
||||
|
||||
bool ground_detect_reverse_thrust(void)
|
||||
{
|
||||
// Reverse thrust needs to be enabled with GROUND_DETECT_REVERSE_THRUST_ON_GROUND_DETECTED, and started through for example a flight plan block
|
||||
if (GROUND_DETECT_REVERSE_THRUST_ON_GROUND_DETECTED && reverse_thrust) {
|
||||
return true;
|
||||
} else {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
void ground_detect_stop_reverse_thrust(void)
|
||||
{
|
||||
reverse_thrust = false;
|
||||
}
|
||||
|
||||
void ground_detect_start_reverse_thrust(void)
|
||||
{
|
||||
reverse_thrust = true;
|
||||
}
|
||||
|
||||
void ground_detect_set_offset_sensors(bool set_offset)
|
||||
{
|
||||
(void) set_offset;
|
||||
#if GROUND_DETECT_USE_FORCE_SENSOR
|
||||
force_sensor_autoset_offset();
|
||||
#endif
|
||||
}
|
||||
|
||||
@@ -27,6 +27,25 @@
|
||||
#define GROUND_DETECT_H
|
||||
|
||||
#include "std.h"
|
||||
#include "filters/low_pass_filter.h"
|
||||
|
||||
union ground_detect_bitmask_t {
|
||||
uint16_t value;
|
||||
struct {
|
||||
bool vspeed_trigger : 1;
|
||||
bool spec_thrust_trigger : 1;
|
||||
bool accel_filt_trigger: 1;
|
||||
bool agl_trigger : 1;
|
||||
bool force_sensor_trigger : 1;
|
||||
};
|
||||
};
|
||||
|
||||
struct ground_detect_values_t {
|
||||
float speed_down;
|
||||
float spec_thrust_down;
|
||||
Butterworth2LowPass accel_down_filt;
|
||||
float agl_dist_value_filtered;
|
||||
};
|
||||
|
||||
extern void ground_detect_init(void);
|
||||
extern void ground_detect_periodic(void);
|
||||
@@ -36,5 +55,13 @@ extern bool ground_detect(void);
|
||||
extern void ground_detect_filter_accel(void);
|
||||
|
||||
extern bool disarm_on_not_in_flight;
|
||||
extern bool ground_detect_reverse_thrust(void);
|
||||
extern void ground_detect_stop_reverse_thrust(void);
|
||||
extern void ground_detect_start_reverse_thrust(void);
|
||||
extern void ground_detect_set_offset_sensors(bool set_offset);
|
||||
|
||||
extern float force_sensor_ground_threshold;
|
||||
|
||||
extern uint16_t reverse_th_level; // Reverse thrust level in pprz units
|
||||
|
||||
#endif // GROUND_DETECT_H
|
||||
|
||||
+1
-1
Submodule sw/ext/pprzlink updated: a6225a2c99...820a010f14
Reference in New Issue
Block a user