#include <voted_sensors_update.h>

Collaboration diagram for sensors::VotedSensorsUpdate:

Classes
struct	SensorData

Public Member Functions
	VotedSensorsUpdate (const Parameters &parameters, bool hil_enabled)

int	init (sensor_combined_s &raw)
	initialize subscriptions etc. More...

void	initializeSensors ()
	This tries to find new sensor instances. More...

void	deinit ()
	deinitialize the object (we cannot use the destructor because it is called on the wrong thread) More...

void	printStatus ()

void	parametersUpdate ()
	call this whenever parameters got updated. More...

void	sensorsPoll (sensor_combined_s &raw, vehicle_air_data_s &airdata, vehicle_magnetometer_s &magnetometer)
	read new sensor data More...

void	setRelativeTimestamps (sensor_combined_s &raw)
	set the relative timestamps of each sensor timestamp, based on the last sensorsPoll, so that the data can be published. More...

void	checkFailover ()
	check if a failover event occured. More...

int	numGyros () const

int	gyroFd (int idx) const

int	bestGyroFd () const

void	calcAccelInconsistency (sensor_preflight_s &preflt)
	Calculates the magnitude in m/s/s of the largest difference between the primary and any other accel sensor. More...

void	calcGyroInconsistency (sensor_preflight_s &preflt)
	Calculates the magnitude in rad/s of the largest difference between the primary and any other gyro sensor. More...

void	calcMagInconsistency (sensor_preflight_s &preflt)
	Calculates the magnitude in Gauss of the largest difference between the primary and any other magnetometers. More...

Private Member Functions
void	initSensorClass (const orb_metadata *meta, SensorData &sensor_data, uint8_t sensor_count_max)

void	accelPoll (sensor_combined_s &raw)
	Poll the accelerometer for updated data. More...

void	gyroPoll (sensor_combined_s &raw)
	Poll the gyro for updated data. More...

void	magPoll (vehicle_magnetometer_s &magnetometer)
	Poll the magnetometer for updated data. More...

void	baroPoll (vehicle_air_data_s &airdata)
	Poll the barometer for updated data. More...

bool	checkFailover (SensorData &sensor, const char *sensor_name, const uint64_t type)
	Check & handle failover of a sensor. More...

bool	applyGyroCalibration (DriverFramework::DevHandle &h, const struct gyro_calibration_s *gcal, const int device_id)
	Apply a gyro calibration. More...

bool	applyAccelCalibration (DriverFramework::DevHandle &h, const struct accel_calibration_s *acal, const int device_id)
	Apply a accel calibration. More...

bool	applyMagCalibration (DriverFramework::DevHandle &h, const struct mag_calibration_s *mcal, const int device_id)
	Apply a mag calibration. More...

Private Attributes
SensorData	_accel {}

SensorData	_gyro {}

SensorData	_mag {}

SensorData	_baro {}

orb_advert_t	_mavlink_log_pub {nullptr}

uORB::Publication< sensor_correction_s >	_sensor_correction_pub {ORB_ID(sensor_correction)}
	handle to the sensor correction uORB topic More...

uORB::Publication< sensor_selection_s >	_sensor_selection_pub {ORB_ID(sensor_selection)}
	handle to the sensor selection uORB topic More...

sensor_combined_s	_last_sensor_data [SENSOR_COUNT_MAX] {}
	latest sensor data from all sensors instances More...

vehicle_air_data_s	_last_airdata [SENSOR_COUNT_MAX] {}
	latest sensor data from all sensors instances More...

vehicle_magnetometer_s	_last_magnetometer [SENSOR_COUNT_MAX] {}
	latest sensor data from all sensors instances More...

matrix::Dcmf	_board_rotation {}
	rotation matrix for the orientation that the board is mounted More...

matrix::Dcmf	_mag_rotation [MAG_COUNT_MAX] {}
	rotation matrix for the orientation that the external mag0 is mounted More...

const Parameters &	_parameters

const bool	_hil_enabled {false}
	is hardware-in-the-loop mode enabled? More...

bool	_corrections_changed {false}

bool	_selection_changed {false}
	true when a sensor selection has changed and not been published More...

float	_accel_diff [3][2] {}
	filtered accel differences between IMU units (m/s/s) More...

float	_gyro_diff [3][2] {}
	filtered gyro differences between IMU uinits (rad/s) More...

float	_mag_angle_diff [2] {}
	filtered mag angle differences between sensor instances (Ga) More...

uint32_t	_accel_device_id [SENSOR_COUNT_MAX] {}
	accel driver device id for each uorb instance More...

uint32_t	_baro_device_id [SENSOR_COUNT_MAX] {}
	baro driver device id for each uorb instance More...

uint32_t	_gyro_device_id [SENSOR_COUNT_MAX] {}
	gyro driver device id for each uorb instance More...

uint32_t	_mag_device_id [SENSOR_COUNT_MAX] {}
	mag driver device id for each uorb instance More...

uint64_t	_last_accel_timestamp [ACCEL_COUNT_MAX] {}
	latest full timestamp More...

sensor_correction_s	_corrections {}
	struct containing the sensor corrections to be published to the uORB More...

sensor_selection_s	_selection {}
	struct containing the sensor selection to be published to the uORB More...

subsystem_info_s	_info {}
	subsystem info publication More...

TemperatureCompensation	_temperature_compensation {}
	sensor thermal compensation More...

uORB::PublicationQueued< subsystem_info_s >	_info_pub {ORB_ID(subsystem_info)}

Detailed Description

class VotedSensorsUpdate

Handling of sensor updates with voting

Definition at line 78 of file voted_sensors_update.h.

Constructor & Destructor Documentation

◆ VotedSensorsUpdate()

VotedSensorsUpdate::VotedSensorsUpdate	(	const Parameters &	parameters,
		bool	hil_enabled
	)

Parameters

parameters parameter values. These do not have to be initialized when constructing this object. Only when calling init(), they have to be initialized.

Definition at line 55 of file voted_sensors_update.cpp.

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Member Function Documentation

◆ accelPoll()

void VotedSensorsUpdate::accelPoll ( sensor_combined_s & raw )

private

Poll the accelerometer for updated data.

Parameters

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

Definition at line 572 of file voted_sensors_update.cpp.

References _accel, _accel_device_id, _board_rotation, _corrections, _corrections_changed, _last_accel_timestamp, _last_sensor_data, _selection, _selection_changed, _temperature_compensation, sensor_selection_s::accel_device_id, sensor_correction_s::accel_offset_0, sensor_correction_s::accel_offset_1, sensor_correction_s::accel_offset_2, sensor_correction_s::accel_scale_0, sensor_correction_s::accel_scale_1, sensor_correction_s::accel_scale_2, sensor_combined_s::accelerometer_integral_dt, sensor_combined_s::accelerometer_m_s2, sensors::TemperatureCompensation::apply_corrections_accel(), sensor_accel_s::device_id, sensors::VotedSensorsUpdate::SensorData::enabled, sensor_accel_s::error_count, DataValidatorGroup::get_best(), hrt_absolute_time(), sensor_accel_s::integral_dt, sensors::VotedSensorsUpdate::SensorData::last_best_vote, orb_check(), orb_copy(), ORB_ID, orb_priority(), sensors::VotedSensorsUpdate::SensorData::priority, DataValidatorGroup::put(), sensor_correction_s::selected_accel_instance, sensors::VotedSensorsUpdate::SensorData::subscription, sensors::VotedSensorsUpdate::SensorData::subscription_count, sensor_accel_s::temperature, sensor_accel_s::timestamp, sensors::VotedSensorsUpdate::SensorData::voter, sensor_accel_s::x, sensor_accel_s::x_integral, sensor_accel_s::y, sensor_accel_s::y_integral, sensor_accel_s::z, and sensor_accel_s::z_integral.

Referenced by sensorsPoll().

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◆ applyAccelCalibration()

bool VotedSensorsUpdate::applyAccelCalibration	(	DriverFramework::DevHandle &	h,
		const struct accel_calibration_s *	acal,
		const int	device_id
	)

private

Apply a accel calibration.

Parameters

h	reference to the DevHandle in use
ascale	the calibration data.
device	the device id of the sensor.

Returns: : true if config is ok

Definition at line 1080 of file voted_sensors_update.cpp.

References ACCELIOCSSCALE.

Referenced by parametersUpdate().

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◆ applyGyroCalibration()

bool VotedSensorsUpdate::applyGyroCalibration	(	DriverFramework::DevHandle &	h,
		const struct gyro_calibration_s *	gcal,
		const int	device_id
	)

private

Apply a gyro calibration.

Parameters

h	reference to the DevHandle in use
gscale	the calibration data.
device	the device id of the sensor.

Returns: : true if config is ok

Definition at line 1066 of file voted_sensors_update.cpp.

References GYROIOCSSCALE.

Referenced by parametersUpdate().

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◆ applyMagCalibration()

bool VotedSensorsUpdate::applyMagCalibration	(	DriverFramework::DevHandle &	h,
		const struct mag_calibration_s *	mcal,
		const int	device_id
	)

private

Apply a mag calibration.

Parameters

h	reference to the DevHandle in use
gscale	the calibration data.
device	the device id of the sensor.

Returns: : true if config is ok

Definition at line 1094 of file voted_sensors_update.cpp.

References MAGIOCSSCALE.

Referenced by parametersUpdate().

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◆ baroPoll()

void VotedSensorsUpdate::baroPoll ( vehicle_air_data_s & airdata )

private

Poll the barometer for updated data.

Parameters

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

Definition at line 852 of file voted_sensors_update.cpp.

References _baro, _baro_device_id, _corrections, _corrections_changed, _last_airdata, _parameters, _selection, _selection_changed, _temperature_compensation, sensors::TemperatureCompensation::apply_corrections_baro(), vehicle_air_data_s::baro_alt_meter, sensor_selection_s::baro_device_id, sensor_correction_s::baro_offset_0, sensor_correction_s::baro_offset_1, sensor_correction_s::baro_offset_2, vehicle_air_data_s::baro_pressure_pa, sensors::Parameters::baro_qnh, sensor_correction_s::baro_scale_0, sensor_correction_s::baro_scale_1, sensor_correction_s::baro_scale_2, vehicle_air_data_s::baro_temp_celcius, CONSTANTS_ABSOLUTE_NULL_CELSIUS, CONSTANTS_AIR_GAS_CONST, CONSTANTS_ONE_G, sensor_baro_s::device_id, sensor_baro_s::error_count, DataValidatorGroup::get_best(), hrt_absolute_time(), sensors::VotedSensorsUpdate::SensorData::last_best_vote, orb_check(), orb_copy(), ORB_ID, orb_priority(), sensor_baro_s::pressure, sensors::VotedSensorsUpdate::SensorData::priority, DataValidatorGroup::put(), vehicle_air_data_s::rho, sensor_correction_s::selected_baro_instance, sensors::VotedSensorsUpdate::SensorData::subscription, sensors::VotedSensorsUpdate::SensorData::subscription_count, sensor_baro_s::temperature, sensor_baro_s::timestamp, vehicle_air_data_s::timestamp, and sensors::VotedSensorsUpdate::SensorData::voter.

Referenced by sensorsPoll().

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◆ bestGyroFd()

int sensors::VotedSensorsUpdate::bestGyroFd ( ) const

inline

Definition at line 131 of file voted_sensors_update.h.

References _gyro, calcAccelInconsistency(), calcGyroInconsistency(), calcMagInconsistency(), sensors::VotedSensorsUpdate::SensorData::last_best_vote, and sensors::VotedSensorsUpdate::SensorData::subscription.

Referenced by Sensors::run().

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◆ calcAccelInconsistency()

void VotedSensorsUpdate::calcAccelInconsistency ( sensor_preflight_s & preflt )

Calculates the magnitude in m/s/s of the largest difference between the primary and any other accel sensor.

Definition at line 1155 of file voted_sensors_update.cpp.

References _accel, _accel_diff, _last_sensor_data, sensor_preflight_s::accel_inconsistency_m_s_s, sensor_combined_s::accelerometer_m_s2, sensors::VotedSensorsUpdate::SensorData::last_best_vote, sensors::VotedSensorsUpdate::SensorData::priority, and sensors::VotedSensorsUpdate::SensorData::subscription_count.

Referenced by bestGyroFd(), and Sensors::run().

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◆ calcGyroInconsistency()

void VotedSensorsUpdate::calcGyroInconsistency ( sensor_preflight_s & preflt )

Calculates the magnitude in rad/s of the largest difference between the primary and any other gyro sensor.

Definition at line 1204 of file voted_sensors_update.cpp.

References _gyro, _gyro_diff, _last_sensor_data, sensor_preflight_s::gyro_inconsistency_rad_s, sensor_combined_s::gyro_rad, sensors::VotedSensorsUpdate::SensorData::last_best_vote, sensors::VotedSensorsUpdate::SensorData::priority, and sensors::VotedSensorsUpdate::SensorData::subscription_count.

Referenced by bestGyroFd(), and Sensors::run().

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◆ calcMagInconsistency()

void VotedSensorsUpdate::calcMagInconsistency ( sensor_preflight_s & preflt )

Calculates the magnitude in Gauss of the largest difference between the primary and any other magnetometers.

Definition at line 1253 of file voted_sensors_update.cpp.

References _last_magnetometer, _mag, _mag_angle_diff, sensors::VotedSensorsUpdate::SensorData::last_best_vote, sensor_preflight_s::mag_inconsistency_angle, vehicle_magnetometer_s::magnetometer_ga, math::max(), sensors::VotedSensorsUpdate::SensorData::priority, and sensors::VotedSensorsUpdate::SensorData::subscription_count.

Referenced by bestGyroFd(), and Sensors::run().

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◆ checkFailover() [1/2]

void VotedSensorsUpdate::checkFailover ( )

check if a failover event occured.

if so, report it.

Definition at line 1138 of file voted_sensors_update.cpp.

References _accel, _baro, _gyro, and _mag.

Referenced by Sensors::run().

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◆ checkFailover() [2/2]

bool VotedSensorsUpdate::checkFailover	(	SensorData &	sensor,
		const char *	sensor_name,
		const uint64_t	type
	)

private

Check & handle failover of a sensor.

Returns: true if a switch occured (could be for a non-critical reason)

Definition at line 952 of file voted_sensors_update.cpp.

References _hil_enabled, _info, _info_pub, _mavlink_log_pub, subsystem_info_s::enabled, DataValidator::ERROR_FLAG_HIGH_ERRCOUNT, DataValidator::ERROR_FLAG_HIGH_ERRDENSITY, DataValidator::ERROR_FLAG_NO_DATA, DataValidator::ERROR_FLAG_NO_ERROR, DataValidator::ERROR_FLAG_STALE_DATA, DataValidator::ERROR_FLAG_TIMEOUT, DataValidatorGroup::failover_count(), DataValidatorGroup::failover_index(), DataValidatorGroup::failover_state(), hrt_absolute_time(), sensors::VotedSensorsUpdate::SensorData::last_failover_count, mavlink_log_emergency, subsystem_info_s::ok, subsystem_info_s::present, sensors::VotedSensorsUpdate::SensorData::priority, uORB::PublicationQueued< T >::publish(), sensors::VotedSensorsUpdate::SensorData::subscription_count, subsystem_info_s::subsystem_type, subsystem_info_s::timestamp, and sensors::VotedSensorsUpdate::SensorData::voter.

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◆ deinit()

void VotedSensorsUpdate::deinit ( )

deinitialize the object (we cannot use the destructor because it is called on the wrong thread)

Definition at line 102 of file voted_sensors_update.cpp.

References _accel, _baro, _gyro, _mag, orb_unsubscribe(), sensors::VotedSensorsUpdate::SensorData::subscription, and sensors::VotedSensorsUpdate::SensorData::subscription_count.

Referenced by Sensors::run().

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◆ gyroFd()

int sensors::VotedSensorsUpdate::gyroFd ( int idx ) const

inline

Definition at line 129 of file voted_sensors_update.h.

References _gyro, and sensors::VotedSensorsUpdate::SensorData::subscription.

◆ gyroPoll()

void VotedSensorsUpdate::gyroPoll ( sensor_combined_s & raw )

private

Poll the gyro for updated data.

Parameters

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

Definition at line 679 of file voted_sensors_update.cpp.

References _board_rotation, _corrections, _corrections_changed, _gyro, _gyro_device_id, _last_sensor_data, _selection, _selection_changed, _temperature_compensation, sensors::TemperatureCompensation::apply_corrections_gyro(), sensor_gyro_s::device_id, sensors::VotedSensorsUpdate::SensorData::enabled, sensor_gyro_s::error_count, DataValidatorGroup::get_best(), sensor_selection_s::gyro_device_id, sensor_combined_s::gyro_integral_dt, sensor_correction_s::gyro_offset_0, sensor_correction_s::gyro_offset_1, sensor_correction_s::gyro_offset_2, sensor_combined_s::gyro_rad, sensor_correction_s::gyro_scale_0, sensor_correction_s::gyro_scale_1, sensor_correction_s::gyro_scale_2, hrt_absolute_time(), sensor_gyro_s::integral_dt, sensors::VotedSensorsUpdate::SensorData::last_best_vote, orb_check(), orb_copy(), ORB_ID, orb_priority(), sensors::VotedSensorsUpdate::SensorData::priority, DataValidatorGroup::put(), sensor_correction_s::selected_gyro_instance, sensors::VotedSensorsUpdate::SensorData::subscription, sensors::VotedSensorsUpdate::SensorData::subscription_count, sensor_gyro_s::temperature, sensor_gyro_s::timestamp, sensor_combined_s::timestamp, sensors::VotedSensorsUpdate::SensorData::voter, sensor_gyro_s::x, sensor_gyro_s::x_integral, sensor_gyro_s::y, sensor_gyro_s::y_integral, sensor_gyro_s::z, and sensor_gyro_s::z_integral.

Referenced by sensorsPoll().

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◆ init()

int VotedSensorsUpdate::init ( sensor_combined_s & raw )

initialize subscriptions etc.

Returns: 0 on success, <0 otherwise

Definition at line 81 of file voted_sensors_update.cpp.

References _corrections_changed, _selection_changed, sensor_combined_s::accelerometer_timestamp_relative, initializeSensors(), and sensor_combined_s::timestamp.

Referenced by Sensors::run().

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◆ initializeSensors()

void VotedSensorsUpdate::initializeSensors ( )

This tries to find new sensor instances.

This is called from init(), then it can be called periodically.

Definition at line 94 of file voted_sensors_update.cpp.

References _accel, _baro, _gyro, _mag, sensors::ACCEL_COUNT_MAX, sensors::BARO_COUNT_MAX, sensors::GYRO_COUNT_MAX, initSensorClass(), sensors::MAG_COUNT_MAX, and ORB_ID.

Referenced by init(), and Sensors::run().

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◆ initSensorClass()

void VotedSensorsUpdate::initSensorClass	(	const orb_metadata *	meta,
		SensorData &	sensor_data,
		uint8_t	sensor_count_max
	)

private

Definition at line 1021 of file voted_sensors_update.cpp.

References DataValidatorGroup::add_new_validator(), orb_metadata::o_name, orb_exists(), orb_subscribe_multi(), sensors::VotedSensorsUpdate::SensorData::subscription, sensors::VotedSensorsUpdate::SensorData::subscription_count, and sensors::VotedSensorsUpdate::SensorData::voter.

Referenced by initializeSensors().

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◆ magPoll()

void VotedSensorsUpdate::magPoll ( vehicle_magnetometer_s & magnetometer )

private

Poll the magnetometer for updated data.

Parameters

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

Definition at line 787 of file voted_sensors_update.cpp.

References _last_magnetometer, _mag, _mag_device_id, _mag_rotation, _selection, _selection_changed, sensors::VotedSensorsUpdate::SensorData::enabled, DataValidatorGroup::get_best(), hrt_absolute_time(), sensors::VotedSensorsUpdate::SensorData::last_best_vote, sensor_selection_s::mag_device_id, mag_report, vehicle_magnetometer_s::magnetometer_ga, orb_check(), orb_copy(), ORB_ID, orb_priority(), parametersUpdate(), sensors::VotedSensorsUpdate::SensorData::priority, DataValidatorGroup::put(), sensors::VotedSensorsUpdate::SensorData::subscription, sensors::VotedSensorsUpdate::SensorData::subscription_count, vehicle_magnetometer_s::timestamp, and sensors::VotedSensorsUpdate::SensorData::voter.

Referenced by sensorsPoll().

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◆ numGyros()

int sensors::VotedSensorsUpdate::numGyros ( ) const

inline

Definition at line 127 of file voted_sensors_update.h.

References _gyro, and sensors::VotedSensorsUpdate::SensorData::subscription_count.

Referenced by Sensors::run().

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◆ parametersUpdate()

void VotedSensorsUpdate::parametersUpdate ( )

call this whenever parameters got updated.

Make sure to have initializeSensors() called at least once before calling this.

Definition at line 121 of file voted_sensors_update.cpp.

References _accel, _baro, _board_rotation, _corrections, _gyro, _hil_enabled, _mag, _mag_device_id, _mag_rotation, _parameters, _temperature_compensation, ACCEL_BASE_DEVICE_PATH, sensors::ACCEL_COUNT_MAX, sensor_correction_s::accel_mapping, applyAccelCalibration(), applyGyroCalibration(), applyMagCalibration(), sensor_correction_s::baro_mapping, sensors::Parameters::board_offset, sensors::Parameters::board_rotation, CAL_ERROR_APPLY_CAL_MSG, device_id, sensors::VotedSensorsUpdate::SensorData::enabled, get_rot_matrix(), GYRO_BASE_DEVICE_PATH, sensors::GYRO_COUNT_MAX, sensor_correction_s::gyro_mapping, MAG_BASE_DEVICE_PATH, sensors::MAG_COUNT_MAX, mag_report, MAG_ROT_VAL_INTERNAL, OK, orb_copy(), ORB_ID, param_find(), param_get(), param_set(), param_set_no_notification(), sensors::TemperatureCompensation::parameters_update(), sensors::VotedSensorsUpdate::SensorData::priority, sensors::TemperatureCompensation::set_sensor_id_accel(), sensors::TemperatureCompensation::set_sensor_id_baro(), sensors::TemperatureCompensation::set_sensor_id_gyro(), sensors::VotedSensorsUpdate::SensorData::subscription, sensors::VotedSensorsUpdate::SensorData::subscription_count, gyro_calibration_s::x_offset, accel_calibration_s::x_offset, mag_calibration_s::x_offset, gyro_calibration_s::x_scale, accel_calibration_s::x_scale, mag_calibration_s::x_scale, gyro_calibration_s::y_offset, accel_calibration_s::y_offset, mag_calibration_s::y_offset, accel_calibration_s::y_scale, gyro_calibration_s::y_scale, mag_calibration_s::y_scale, gyro_calibration_s::z_offset, accel_calibration_s::z_offset, mag_calibration_s::z_offset, gyro_calibration_s::z_scale, accel_calibration_s::z_scale, and mag_calibration_s::z_scale.

Referenced by magPoll(), and Sensors::parameters_update().

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◆ printStatus()

void VotedSensorsUpdate::printStatus ( )

Definition at line 1051 of file voted_sensors_update.cpp.

References _accel, _baro, _gyro, _mag, _temperature_compensation, DataValidatorGroup::print(), sensors::TemperatureCompensation::print_status(), and sensors::VotedSensorsUpdate::SensorData::voter.

Referenced by Sensors::print_status().

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◆ sensorsPoll()

void VotedSensorsUpdate::sensorsPoll	(	sensor_combined_s &	raw,
		vehicle_air_data_s &	airdata,
		vehicle_magnetometer_s &	magnetometer
	)

read new sensor data

Definition at line 1111 of file voted_sensors_update.cpp.

References _corrections, _corrections_changed, _selection, _selection_changed, _sensor_correction_pub, _sensor_selection_pub, accelPoll(), baroPoll(), gyroPoll(), hrt_absolute_time(), magPoll(), uORB::Publication< T >::publish(), sensor_correction_s::timestamp, and sensor_selection_s::timestamp.

Referenced by Sensors::run().

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◆ setRelativeTimestamps()

void VotedSensorsUpdate::setRelativeTimestamps ( sensor_combined_s & raw )

set the relative timestamps of each sensor timestamp, based on the last sensorsPoll, so that the data can be published.

Definition at line 1146 of file voted_sensors_update.cpp.

References _accel, _last_accel_timestamp, sensor_combined_s::accelerometer_timestamp_relative, sensors::VotedSensorsUpdate::SensorData::last_best_vote, and sensor_combined_s::timestamp.

Referenced by Sensors::run().

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Member Data Documentation

◆ _accel

SensorData sensors::VotedSensorsUpdate::_accel {}

private

Definition at line 245 of file voted_sensors_update.h.

Referenced by accelPoll(), calcAccelInconsistency(), checkFailover(), deinit(), initializeSensors(), parametersUpdate(), printStatus(), setRelativeTimestamps(), and VotedSensorsUpdate().

◆ _accel_device_id

uint32_t sensors::VotedSensorsUpdate::_accel_device_id[SENSOR_COUNT_MAX] {}

private

accel driver device id for each uorb instance

Definition at line 272 of file voted_sensors_update.h.

Referenced by accelPoll().

◆ _accel_diff

float sensors::VotedSensorsUpdate::_accel_diff[3][2] {}

private

filtered accel differences between IMU units (m/s/s)

Definition at line 268 of file voted_sensors_update.h.

Referenced by calcAccelInconsistency().

◆ _baro

SensorData sensors::VotedSensorsUpdate::_baro {}

private

Definition at line 248 of file voted_sensors_update.h.

Referenced by baroPoll(), checkFailover(), deinit(), initializeSensors(), parametersUpdate(), printStatus(), and VotedSensorsUpdate().

◆ _baro_device_id

uint32_t sensors::VotedSensorsUpdate::_baro_device_id[SENSOR_COUNT_MAX] {}

private

baro driver device id for each uorb instance

Definition at line 273 of file voted_sensors_update.h.

Referenced by baroPoll().

◆ _board_rotation

matrix::Dcmf sensors::VotedSensorsUpdate::_board_rotation {}

private

rotation matrix for the orientation that the board is mounted

Definition at line 259 of file voted_sensors_update.h.

Referenced by accelPoll(), gyroPoll(), and parametersUpdate().

◆ _corrections

sensor_correction_s sensors::VotedSensorsUpdate::_corrections {}

private

struct containing the sensor corrections to be published to the uORB

Definition at line 279 of file voted_sensors_update.h.

Referenced by accelPoll(), baroPoll(), gyroPoll(), parametersUpdate(), sensorsPoll(), and VotedSensorsUpdate().

◆ _corrections_changed

bool sensors::VotedSensorsUpdate::_corrections_changed {false}

private

Definition at line 265 of file voted_sensors_update.h.

Referenced by accelPoll(), baroPoll(), gyroPoll(), init(), and sensorsPoll().

◆ _gyro

SensorData sensors::VotedSensorsUpdate::_gyro {}

private

Definition at line 246 of file voted_sensors_update.h.

Referenced by bestGyroFd(), calcGyroInconsistency(), checkFailover(), deinit(), gyroFd(), gyroPoll(), initializeSensors(), numGyros(), parametersUpdate(), printStatus(), and VotedSensorsUpdate().

◆ _gyro_device_id

uint32_t sensors::VotedSensorsUpdate::_gyro_device_id[SENSOR_COUNT_MAX] {}

private

gyro driver device id for each uorb instance

Definition at line 274 of file voted_sensors_update.h.

Referenced by gyroPoll().

◆ _gyro_diff

float sensors::VotedSensorsUpdate::_gyro_diff[3][2] {}

private

filtered gyro differences between IMU uinits (rad/s)

Definition at line 269 of file voted_sensors_update.h.

Referenced by calcGyroInconsistency().

◆ _hil_enabled

const bool sensors::VotedSensorsUpdate::_hil_enabled {false}

private

is hardware-in-the-loop mode enabled?

Definition at line 263 of file voted_sensors_update.h.

Referenced by checkFailover(), parametersUpdate(), and VotedSensorsUpdate().

◆ _info

subsystem_info_s sensors::VotedSensorsUpdate::_info {}

private

subsystem info publication

Definition at line 281 of file voted_sensors_update.h.

Referenced by checkFailover().

◆ _info_pub

uORB::PublicationQueued<subsystem_info_s> sensors::VotedSensorsUpdate::_info_pub {ORB_ID(subsystem_info)}

private

Definition at line 285 of file voted_sensors_update.h.

Referenced by checkFailover().

◆ _last_accel_timestamp

uint64_t sensors::VotedSensorsUpdate::_last_accel_timestamp[ACCEL_COUNT_MAX] {}

private

latest full timestamp

Definition at line 277 of file voted_sensors_update.h.

Referenced by accelPoll(), and setRelativeTimestamps().

◆ _last_airdata

vehicle_air_data_s sensors::VotedSensorsUpdate::_last_airdata[SENSOR_COUNT_MAX] {}

private

latest sensor data from all sensors instances

Definition at line 256 of file voted_sensors_update.h.

Referenced by baroPoll().

◆ _last_magnetometer

vehicle_magnetometer_s sensors::VotedSensorsUpdate::_last_magnetometer[SENSOR_COUNT_MAX] {}

private

latest sensor data from all sensors instances

Definition at line 257 of file voted_sensors_update.h.

Referenced by calcMagInconsistency(), and magPoll().

◆ _last_sensor_data

sensor_combined_s sensors::VotedSensorsUpdate::_last_sensor_data[SENSOR_COUNT_MAX] {}

private

latest sensor data from all sensors instances

Definition at line 255 of file voted_sensors_update.h.

Referenced by accelPoll(), calcAccelInconsistency(), calcGyroInconsistency(), and gyroPoll().

◆ _mag

SensorData sensors::VotedSensorsUpdate::_mag {}

private

Definition at line 247 of file voted_sensors_update.h.

Referenced by calcMagInconsistency(), checkFailover(), deinit(), initializeSensors(), magPoll(), parametersUpdate(), printStatus(), and VotedSensorsUpdate().

◆ _mag_angle_diff

float sensors::VotedSensorsUpdate::_mag_angle_diff[2] {}

private

filtered mag angle differences between sensor instances (Ga)

Definition at line 270 of file voted_sensors_update.h.

Referenced by calcMagInconsistency().

◆ _mag_device_id

uint32_t sensors::VotedSensorsUpdate::_mag_device_id[SENSOR_COUNT_MAX] {}

private

mag driver device id for each uorb instance

Definition at line 275 of file voted_sensors_update.h.

Referenced by magPoll(), and parametersUpdate().

◆ _mag_rotation

matrix::Dcmf sensors::VotedSensorsUpdate::_mag_rotation[MAG_COUNT_MAX] {}

private

rotation matrix for the orientation that the external mag0 is mounted

Definition at line 260 of file voted_sensors_update.h.

Referenced by magPoll(), and parametersUpdate().

◆ _mavlink_log_pub

orb_advert_t sensors::VotedSensorsUpdate::_mavlink_log_pub {nullptr}

private

Definition at line 250 of file voted_sensors_update.h.

Referenced by checkFailover().

◆ _parameters

const Parameters& sensors::VotedSensorsUpdate::_parameters

private

Definition at line 262 of file voted_sensors_update.h.

Referenced by baroPoll(), and parametersUpdate().

◆ _selection

sensor_selection_s sensors::VotedSensorsUpdate::_selection {}

private

struct containing the sensor selection to be published to the uORB

Definition at line 280 of file voted_sensors_update.h.

Referenced by accelPoll(), baroPoll(), gyroPoll(), magPoll(), and sensorsPoll().

◆ _selection_changed

bool sensors::VotedSensorsUpdate::_selection_changed {false}

private

true when a sensor selection has changed and not been published

Definition at line 266 of file voted_sensors_update.h.

Referenced by accelPoll(), baroPoll(), gyroPoll(), init(), magPoll(), and sensorsPoll().

◆ _sensor_correction_pub

uORB::Publication<sensor_correction_s> sensors::VotedSensorsUpdate::_sensor_correction_pub {ORB_ID(sensor_correction)}

private

handle to the sensor correction uORB topic

Definition at line 252 of file voted_sensors_update.h.

Referenced by sensorsPoll().

◆ _sensor_selection_pub

uORB::Publication<sensor_selection_s> sensors::VotedSensorsUpdate::_sensor_selection_pub {ORB_ID(sensor_selection)}

private

handle to the sensor selection uORB topic

Definition at line 253 of file voted_sensors_update.h.

Referenced by sensorsPoll().

◆ _temperature_compensation

TemperatureCompensation sensors::VotedSensorsUpdate::_temperature_compensation {}

private

sensor thermal compensation

Definition at line 283 of file voted_sensors_update.h.

Referenced by accelPoll(), baroPoll(), gyroPoll(), parametersUpdate(), and printStatus().

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

src/modules/sensors/voted_sensors_update.h
src/modules/sensors/voted_sensors_update.cpp

Classes

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ VotedSensorsUpdate()

Member Function Documentation

◆ accelPoll()

◆ applyAccelCalibration()

◆ applyGyroCalibration()

◆ applyMagCalibration()

◆ baroPoll()

◆ bestGyroFd()

◆ calcAccelInconsistency()

◆ calcGyroInconsistency()

◆ calcMagInconsistency()

◆ checkFailover() [1/2]

◆ checkFailover() [2/2]

◆ deinit()

◆ gyroFd()

◆ gyroPoll()

◆ init()

◆ initializeSensors()

◆ initSensorClass()

◆ magPoll()

◆ numGyros()

◆ parametersUpdate()

◆ printStatus()

◆ sensorsPoll()

◆ setRelativeTimestamps()

Member Data Documentation

◆ _accel

◆ _accel_device_id

◆ _accel_diff

◆ _baro

◆ _baro_device_id

◆ _board_rotation

◆ _corrections

◆ _corrections_changed

◆ _gyro

◆ _gyro_device_id

◆ _gyro_diff

◆ _hil_enabled

◆ _info

◆ _info_pub

◆ _last_accel_timestamp

◆ _last_airdata

◆ _last_magnetometer

◆ _last_sensor_data

◆ _mag

◆ _mag_angle_diff

◆ _mag_device_id

◆ _mag_rotation

◆ _mavlink_log_pub

◆ _parameters

◆ _selection

◆ _selection_changed

◆ _sensor_correction_pub

◆ _sensor_selection_pub

◆ _temperature_compensation