VehicleAngularVelocity.cpp

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#include "VehicleAngularVelocity.hpp"

#include <px4_platform_common/log.h>

using namespace matrix;
using namespace time_literals;

VehicleAngularVelocity::VehicleAngularVelocity() :
    ModuleParams(nullptr),
    WorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl)
{
}

VehicleAngularVelocity::~VehicleAngularVelocity()
{
    Stop();
}

bool
VehicleAngularVelocity::Start()
{
    // initialize thermal corrections as we might not immediately get a topic update (only non-zero values)
    _scale = Vector3f{1.0f, 1.0f, 1.0f};
    _offset.zero();
    _bias.zero();

    // force initial updates
    ParametersUpdate(true);
    SensorBiasUpdate(true);

    // needed to change the active sensor if the primary stops updating
    _sensor_selection_sub.registerCallback();

    return SensorCorrectionsUpdate(true);
}

void
VehicleAngularVelocity::Stop()
{
    Deinit();

    // clear all registered callbacks
    for (auto &sub : _sensor_sub) {
        sub.unregisterCallback();
    }

    _sensor_selection_sub.unregisterCallback();
}

void
VehicleAngularVelocity::SensorBiasUpdate(bool force)
{
    if (_sensor_bias_sub.updated() || force) {
        sensor_bias_s bias;

        if (_sensor_bias_sub.copy(&bias)) {
            // TODO: should be checking device ID
            _bias = Vector3f{bias.gyro_bias};
        }
    }
}

bool
VehicleAngularVelocity::SensorCorrectionsUpdate(bool force)
{
    if (_sensor_selection_sub.updated() || force) {
        sensor_selection_s sensor_selection;

        if (_sensor_selection_sub.copy(&sensor_selection)) {
            if (_selected_sensor_device_id != sensor_selection.gyro_device_id) {
                _selected_sensor_device_id = sensor_selection.gyro_device_id;
                force = true;
            }
        }
    }

    // check if the selected sensor has updated
    if (_sensor_correction_sub.updated() || force) {

        sensor_correction_s corrections{};
        _sensor_correction_sub.copy(&corrections);

        // TODO: should be checking device ID
        if (_selected_sensor == 0) {
            _offset = Vector3f{corrections.gyro_offset_0};
            _scale = Vector3f{corrections.gyro_scale_0};

        } else if (_selected_sensor == 1) {
            _offset = Vector3f{corrections.gyro_offset_1};
            _scale = Vector3f{corrections.gyro_scale_1};

        } else if (_selected_sensor == 2) {
            _offset = Vector3f{corrections.gyro_offset_2};
            _scale = Vector3f{corrections.gyro_scale_2};

        } else {
            _offset = Vector3f{0.0f, 0.0f, 0.0f};
            _scale = Vector3f{1.0f, 1.0f, 1.0f};
        }

        // update the latest sensor selection
        if ((_selected_sensor != corrections.selected_gyro_instance) || force) {
            if (corrections.selected_gyro_instance < MAX_SENSOR_COUNT) {
                // clear all registered callbacks
                for (auto &sub : _sensor_control_sub) {
                    sub.unregisterCallback();
                }

                for (auto &sub : _sensor_sub) {
                    sub.unregisterCallback();
                }

                const int sensor_new = corrections.selected_gyro_instance;

                // subscribe to sensor_gyro_control if available
                //  currently not all drivers (eg df_*) provide sensor_gyro_control
                for (int i = 0; i < MAX_SENSOR_COUNT; i++) {
                    sensor_gyro_control_s report{};
                    _sensor_control_sub[i].copy(&report);

                    if ((report.device_id != 0) && (report.device_id == _selected_sensor_device_id)) {
                        if (_sensor_control_sub[i].registerCallback()) {
                            PX4_DEBUG("selected sensor (control) changed %d -> %d", _selected_sensor, i);
                            _selected_sensor_control = i;

                            _sensor_control_available = true;

                            // record selected sensor (sensor_gyro orb index)
                            _selected_sensor = sensor_new;

                            return true;
                        }
                    }
                }

                // otherwise fallback to using sensor_gyro (legacy that will be removed)
                _sensor_control_available = false;

                if (_sensor_sub[sensor_new].registerCallback()) {
                    PX4_DEBUG("selected sensor changed %d -> %d", _selected_sensor, sensor_new);
                    _selected_sensor = sensor_new;

                    return true;
                }
            }
        }
    }

    return false;
}

void
VehicleAngularVelocity::ParametersUpdate(bool force)
{
    // Check if parameters have changed
    if (_params_sub.updated() || force) {
        // clear update
        parameter_update_s param_update;
        _params_sub.copy(&param_update);

        updateParams();

        // get transformation matrix from sensor/board to body frame
        const matrix::Dcmf board_rotation = get_rot_matrix((enum Rotation)_param_sens_board_rot.get());

        // fine tune the rotation
        const Dcmf board_rotation_offset(Eulerf(
                math::radians(_param_sens_board_x_off.get()),
                math::radians(_param_sens_board_y_off.get()),
                math::radians(_param_sens_board_z_off.get())));

        _board_rotation = board_rotation_offset * board_rotation;
    }
}

void
VehicleAngularVelocity::Run()
{
    // update corrections first to set _selected_sensor
    bool sensor_select_update = SensorCorrectionsUpdate();

    if (_sensor_control_available) {
        //  using sensor_gyro_control is preferred, but currently not all drivers (eg df_*) provide sensor_gyro_control
        if (_sensor_control_sub[_selected_sensor].updated() || sensor_select_update) {
            sensor_gyro_control_s sensor_data;
            _sensor_control_sub[_selected_sensor].copy(&sensor_data);

            ParametersUpdate();
            SensorBiasUpdate();

            // get the sensor data and correct for thermal errors (apply offsets and scale)
            Vector3f rates{(Vector3f{sensor_data.xyz} - _offset).emult(_scale)};

            // rotate corrected measurements from sensor to body frame
            rates = _board_rotation * rates;

            // correct for in-run bias errors
            rates -= _bias;

            vehicle_angular_velocity_s angular_velocity;
            angular_velocity.timestamp_sample = sensor_data.timestamp_sample;
            rates.copyTo(angular_velocity.xyz);
            angular_velocity.timestamp = hrt_absolute_time();

            _vehicle_angular_velocity_pub.publish(angular_velocity);
        }

    } else {
        // otherwise fallback to using sensor_gyro (legacy that will be removed)
        if (_sensor_sub[_selected_sensor].updated() || sensor_select_update) {
            sensor_gyro_s sensor_data;
            _sensor_sub[_selected_sensor].copy(&sensor_data);

            ParametersUpdate();
            SensorBiasUpdate();

            // get the sensor data and correct for thermal errors
            const Vector3f val{sensor_data.x, sensor_data.y, sensor_data.z};

            // apply offsets and scale
            Vector3f rates{(val - _offset).emult(_scale)};

            // rotate corrected measurements from sensor to body frame
            rates = _board_rotation * rates;

            // correct for in-run bias errors
            rates -= _bias;

            vehicle_angular_velocity_s angular_velocity;
            angular_velocity.timestamp_sample = sensor_data.timestamp;
            rates.copyTo(angular_velocity.xyz);
            angular_velocity.timestamp = hrt_absolute_time();

            _vehicle_angular_velocity_pub.publish(angular_velocity);
        }
    }
}

void
VehicleAngularVelocity::PrintStatus()
{
    PX4_INFO("selected sensor: %d", _selected_sensor);

    if (_selected_sensor_device_id != 0) {
        PX4_INFO("using sensor_gyro_control: %d (%d)", _selected_sensor_device_id, _selected_sensor_control);

    } else {
        PX4_WARN("sensor_gyro_control unavailable for selected sensor: %d (%d)", _selected_sensor_device_id,  _selected_sensor);
    }
}