Inheritance diagram for Sensors:

Collaboration diagram for Sensors:

Public Member Functions
	Sensors (bool hil_enabled)

	~Sensors () override

void	run () override

int	print_status () override

Static Public Member Functions
static int	task_spawn (int argc, char *argv[])

static Sensors *	instantiate (int argc, char *argv[])

static int	custom_command (int argc, char *argv[])

static int	print_usage (const char *reason=nullptr)

Private Member Functions
int	parameters_update ()
	Update our local parameter cache. More...

void	diff_pres_poll (const vehicle_air_data_s &airdata)
	Poll the differential pressure sensor for updated data. More...

void	parameter_update_poll (bool forced=false)
	Check for changes in parameters. More...

int	adc_init ()
	Do adc-related initialisation. More...

void	adc_poll ()
	Poll the ADC and update readings to suit. More...

Private Attributes
const bool	_hil_enabled
	if true, HIL is active More...

bool	_armed {false}
	arming status of the vehicle More...

uORB::Subscription	_actuator_ctrl_0_sub {ORB_ID(actuator_controls_0)}
	attitude controls sub More...

uORB::Subscription	_diff_pres_sub {ORB_ID(differential_pressure)}
	raw differential pressure subscription More...

uORB::Subscription	_parameter_update_sub {ORB_ID(parameter_update)}
	notification of parameter updates More...

uORB::Subscription	_vcontrol_mode_sub {ORB_ID(vehicle_control_mode)}
	vehicle control mode subscription More...

uORB::Publication< airspeed_s >	_airspeed_pub {ORB_ID(airspeed)}
	airspeed More...

uORB::Publication< sensor_combined_s >	_sensor_pub {ORB_ID(sensor_combined)}
	combined sensor data topic More...

uORB::Publication< sensor_preflight_s >	_sensor_preflight {ORB_ID(sensor_preflight)}
	sensor preflight topic More...

uORB::Publication< vehicle_air_data_s >	_airdata_pub {ORB_ID(vehicle_air_data)}
	combined sensor data topic More...

uORB::Publication< vehicle_magnetometer_s >	_magnetometer_pub {ORB_ID(vehicle_magnetometer)}
	combined sensor data topic More...

perf_counter_t	_loop_perf
	loop performance counter More...

DataValidator	_airspeed_validator
	data validator to monitor airspeed More...

Parameters	_parameters {}
	local copies of interesting parameters More...

ParameterHandles	_parameter_handles {}
	handles for interesting parameters More...

VotedSensorsUpdate	_voted_sensors_update

VehicleAcceleration	_vehicle_acceleration

VehicleAngularVelocity	_vehicle_angular_velocity

Detailed Description

Definition at line 88 of file sensors.cpp.

Constructor & Destructor Documentation

◆ Sensors()

Sensors::Sensors ( bool hil_enabled )

explicit

Definition at line 183 of file sensors.cpp.

References _airspeed_validator, _parameter_handles, _vehicle_acceleration, _vehicle_angular_velocity, battery_status::initialize_parameter_handles(), DataValidator::set_equal_value_threshold(), DataValidator::set_timeout(), VehicleAcceleration::Start(), and VehicleAngularVelocity::Start().

Referenced by instantiate().

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◆ ~Sensors()

Sensors::~Sensors ( )

override

Definition at line 198 of file sensors.cpp.

References _vehicle_acceleration, _vehicle_angular_velocity, VehicleAcceleration::Stop(), and VehicleAngularVelocity::Stop().

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Member Function Documentation

◆ adc_init()

int Sensors::adc_init ( )

private

Do adc-related initialisation.

Definition at line 220 of file sensors.cpp.

References _hil_enabled, ADC0_DEVICE_PATH, and OK.

Referenced by run().

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◆ adc_poll()

void Sensors::adc_poll ( )

private

Poll the ADC and update readings to suit.

Parameters

raw	Combined sensor data structure into which data should be returned.

Definition at line 332 of file sensors.cpp.

References _hil_enabled, _parameters, sensors::Parameters::diff_pres_offset_pa, f(), hrt_absolute_time(), hrt_abstime, px4_adc_msg_t, and PX4_MAX_ADC_CHANNELS.

Referenced by run().

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◆ custom_command()

int Sensors::custom_command	(	int	argc,
		char *	argv[]
	)

static

See also: ModuleBase

Definition at line 539 of file sensors.cpp.

References print_usage().

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◆ diff_pres_poll()

void Sensors::diff_pres_poll ( const vehicle_air_data_s & airdata )

private

Poll the differential pressure sensor for updated data.

Parameters

raw	Combined sensor data structure into which data should be returned.

Definition at line 242 of file sensors.cpp.

References _airspeed_pub, _airspeed_validator, _diff_pres_sub, _parameters, sensors::Parameters::air_cmodel, airspeed_s::air_temperature_celsius, sensors::Parameters::air_tube_diameter_mm, sensors::Parameters::air_tube_length, AIRSPEED_SENSOR_MODEL_MEMBRANE, AIRSPEED_SENSOR_MODEL_SDP3X, vehicle_air_data_s::baro_pressure_pa, vehicle_air_data_s::baro_temp_celcius, calc_IAS_corrected(), calc_TAS_from_EAS(), airspeed_s::confidence, DataValidator::confidence(), DRV_DIFF_PRESS_DEVTYPE_SDP31, DRV_DIFF_PRESS_DEVTYPE_SDP32, DRV_DIFF_PRESS_DEVTYPE_SDP33, hrt_absolute_time(), airspeed_s::indicated_airspeed_m_s, ORB_PRIO_HIGH, PCB_TEMP_ESTIMATE_DEG, uORB::Publication< T >::publish(), DataValidator::put(), differential_pressure_s::temperature, airspeed_s::timestamp, airspeed_s::true_airspeed_m_s, and uORB::Subscription::update().

Referenced by run().

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◆ instantiate()

Sensors * Sensors::instantiate	(	int	argc,
		char *	argv[]
	)

static

See also: ModuleBase

Definition at line 579 of file sensors.cpp.

References Sensors().

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◆ parameter_update_poll()

void Sensors::parameter_update_poll ( bool forced = false )

private

Check for changes in parameters.

Definition at line 300 of file sensors.cpp.

References _parameter_update_sub, _parameters, AIRSPEED0_DEVICE_PATH, AIRSPEEDIOCSSCALE, uORB::Subscription::copy(), sensors::Parameters::diff_pres_offset_pa, fd, OK, parameters_update(), px4_close(), px4_ioctl(), px4_open(), uORB::Subscription::updated(), and warn.

Referenced by run().

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◆ parameters_update()

int Sensors::parameters_update ( )

private

Update our local parameter cache.

Definition at line 205 of file sensors.cpp.

References _armed, _parameter_handles, _parameters, _voted_sensors_update, sensors::VotedSensorsUpdate::parametersUpdate(), and battery_status::update_parameters().

Referenced by parameter_update_poll().

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◆ print_status()

int Sensors::print_status ( )

override

See also: ModuleBase::print_status()

Definition at line 526 of file sensors.cpp.

References _airspeed_validator, _vehicle_acceleration, _vehicle_angular_velocity, _voted_sensors_update, DataValidator::print(), VehicleAcceleration::PrintStatus(), VehicleAngularVelocity::PrintStatus(), and sensors::VotedSensorsUpdate::printStatus().

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◆ print_usage()

int Sensors::print_usage ( const char * reason = nullptr )

static

See also: ModuleBase

Definition at line 544 of file sensors.cpp.

Referenced by custom_command().

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◆ run()

void Sensors::run ( )

override

See also: ModuleBase::run()

Definition at line 389 of file sensors.cpp.

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◆ task_spawn()

int Sensors::task_spawn	(	int	argc,
		char *	argv[]
	)

static

See also: ModuleBase

Definition at line 508 of file sensors.cpp.

Member Data Documentation

◆ _actuator_ctrl_0_sub

uORB::Subscription Sensors::_actuator_ctrl_0_sub {ORB_ID(actuator_controls_0)}

private

attitude controls sub

Definition at line 116 of file sensors.cpp.

◆ _airdata_pub

uORB::Publication<vehicle_air_data_s> Sensors::_airdata_pub {ORB_ID(vehicle_air_data)}

private

combined sensor data topic

Definition at line 124 of file sensors.cpp.

Referenced by run().

◆ _airspeed_pub

uORB::Publication<airspeed_s> Sensors::_airspeed_pub {ORB_ID(airspeed)}

private

airspeed

Definition at line 121 of file sensors.cpp.

Referenced by diff_pres_poll().

◆ _airspeed_validator

DataValidator Sensors::_airspeed_validator

private

data validator to monitor airspeed

Definition at line 129 of file sensors.cpp.

Referenced by diff_pres_poll(), print_status(), and Sensors().

◆ _armed

bool Sensors::_armed {false}

private

arming status of the vehicle

Definition at line 114 of file sensors.cpp.

Referenced by parameters_update(), and run().

◆ _diff_pres_sub

uORB::Subscription Sensors::_diff_pres_sub {ORB_ID(differential_pressure)}

private

raw differential pressure subscription

Definition at line 117 of file sensors.cpp.

Referenced by diff_pres_poll().

◆ _hil_enabled

const bool Sensors::_hil_enabled

private

if true, HIL is active

Definition at line 113 of file sensors.cpp.

Referenced by adc_init(), and adc_poll().

◆ _loop_perf

perf_counter_t Sensors::_loop_perf

private

loop performance counter

Definition at line 127 of file sensors.cpp.

Referenced by run().

◆ _magnetometer_pub

uORB::Publication<vehicle_magnetometer_s> Sensors::_magnetometer_pub {ORB_ID(vehicle_magnetometer)}

private

combined sensor data topic

Definition at line 125 of file sensors.cpp.

Referenced by run().

◆ _parameter_handles

ParameterHandles Sensors::_parameter_handles {}

private

handles for interesting parameters

Definition at line 141 of file sensors.cpp.

Referenced by parameters_update(), and Sensors().

◆ _parameter_update_sub

uORB::Subscription Sensors::_parameter_update_sub {ORB_ID(parameter_update)}

private

notification of parameter updates

Definition at line 118 of file sensors.cpp.

Referenced by parameter_update_poll().

◆ _parameters

Parameters Sensors::_parameters {}

private

local copies of interesting parameters

Definition at line 140 of file sensors.cpp.

Referenced by adc_poll(), diff_pres_poll(), parameter_update_poll(), and parameters_update().

◆ _sensor_preflight

uORB::Publication<sensor_preflight_s> Sensors::_sensor_preflight {ORB_ID(sensor_preflight)}

private

sensor preflight topic

Definition at line 123 of file sensors.cpp.

Referenced by run().

◆ _sensor_pub

uORB::Publication<sensor_combined_s> Sensors::_sensor_pub {ORB_ID(sensor_combined)}

private

combined sensor data topic

Definition at line 122 of file sensors.cpp.

Referenced by run().

◆ _vcontrol_mode_sub

uORB::Subscription Sensors::_vcontrol_mode_sub {ORB_ID(vehicle_control_mode)}

private

vehicle control mode subscription

Definition at line 119 of file sensors.cpp.

Referenced by run().

◆ _vehicle_acceleration

VehicleAcceleration Sensors::_vehicle_acceleration

private

Definition at line 146 of file sensors.cpp.

Referenced by print_status(), Sensors(), and ~Sensors().

◆ _vehicle_angular_velocity

VehicleAngularVelocity Sensors::_vehicle_angular_velocity

private

Definition at line 147 of file sensors.cpp.

Referenced by print_status(), Sensors(), and ~Sensors().

◆ _voted_sensors_update

VotedSensorsUpdate Sensors::_voted_sensors_update

private

Definition at line 143 of file sensors.cpp.

Referenced by parameters_update(), print_status(), and run().

The documentation for this class was generated from the following file:

src/modules/sensors/sensors.cpp

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Sensors()

◆ ~Sensors()

Member Function Documentation

◆ adc_init()

◆ adc_poll()

◆ custom_command()

◆ diff_pres_poll()

◆ instantiate()

◆ parameter_update_poll()

◆ parameters_update()

◆ print_status()

◆ print_usage()

◆ run()

◆ task_spawn()

Member Data Documentation

◆ _actuator_ctrl_0_sub

◆ _airdata_pub

◆ _airspeed_pub

◆ _airspeed_validator

◆ _armed

◆ _diff_pres_sub

◆ _hil_enabled

◆ _loop_perf

◆ _magnetometer_pub

◆ _parameter_handles

◆ _parameter_update_sub

◆ _parameters

◆ _sensor_preflight

◆ _sensor_pub

◆ _vcontrol_mode_sub

◆ _vehicle_acceleration

◆ _vehicle_angular_velocity

◆ _voted_sensors_update