VehicleAngularVelocity.hpp

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#pragma once

#include <lib/conversion/rotation.h>
#include <lib/mathlib/math/Limits.hpp>
#include <lib/matrix/matrix/math.hpp>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/sensor_bias.h>
#include <uORB/topics/sensor_correction.h>
#include <uORB/topics/sensor_selection.h>

#include <uORB/topics/sensor_gyro.h>
#include <uORB/topics/sensor_gyro_control.h>
#include <uORB/topics/vehicle_angular_velocity.h>

class VehicleAngularVelocity : public ModuleParams, public px4::WorkItem
{
public:

    VehicleAngularVelocity();
    virtual ~VehicleAngularVelocity();

    void    Run() override;

    bool    Start();
    void    Stop();

    void    PrintStatus();

private:

    void    ParametersUpdate(bool force = false);
    void    SensorBiasUpdate(bool force = false);
    bool    SensorCorrectionsUpdate(bool force = false);

    static constexpr int MAX_SENSOR_COUNT = 3;

    DEFINE_PARAMETERS(
        (ParamInt<px4::params::SENS_BOARD_ROT>) _param_sens_board_rot,

        (ParamFloat<px4::params::SENS_BOARD_X_OFF>) _param_sens_board_x_off,
        (ParamFloat<px4::params::SENS_BOARD_Y_OFF>) _param_sens_board_y_off,
        (ParamFloat<px4::params::SENS_BOARD_Z_OFF>) _param_sens_board_z_off
    )

    uORB::Publication<vehicle_angular_velocity_s>   _vehicle_angular_velocity_pub{ORB_ID(vehicle_angular_velocity)};

    uORB::Subscription          _params_sub{ORB_ID(parameter_update)};          /**< parameter updates subscription */
    uORB::Subscription          _sensor_bias_sub{ORB_ID(sensor_bias)};          /**< sensor in-run bias correction subscription */
    uORB::Subscription          _sensor_correction_sub{ORB_ID(sensor_correction)};  /**< sensor thermal correction subscription */

    uORB::SubscriptionCallbackWorkItem  _sensor_selection_sub{this, ORB_ID(sensor_selection)};  /**< selected primary sensor subscription */

    uORB::SubscriptionCallbackWorkItem  _sensor_sub[MAX_SENSOR_COUNT] {             /**< sensor data subscription */
        {this, ORB_ID(sensor_gyro), 0},
        {this, ORB_ID(sensor_gyro), 1},
        {this, ORB_ID(sensor_gyro), 2}
    };

    uORB::SubscriptionCallbackWorkItem  _sensor_control_sub[MAX_SENSOR_COUNT] {         /**< sensor control data subscription */
        {this, ORB_ID(sensor_gyro_control), 0},
        {this, ORB_ID(sensor_gyro_control), 1},
        {this, ORB_ID(sensor_gyro_control), 2}
    };

    matrix::Dcmf                _board_rotation;                /**< rotation matrix for the orientation that the board is mounted */

    matrix::Vector3f            _offset;
    matrix::Vector3f            _scale;
    matrix::Vector3f            _bias;

    uint32_t                _selected_sensor_device_id{0};
    uint8_t                 _selected_sensor{0};
    uint8_t                 _selected_sensor_control{0};
    bool                    _sensor_control_available{false};

};