df_mpu9250_wrapper.cpp

Go to the documentation of this file.

/****************************************************************************
 *
 * Copyright (c) 2016 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

/**
 * @file df_mpu9250_wrapper.cpp
 * Lightweight driver to access the MPU9250 of the DriverFramework.
 *
 * @author Julian Oes <julian@oes.ch>
 */

#include <px4_platform_common/px4_config.h>

#include <sys/types.h>
#include <sys/stat.h>
#include <stdint.h>
#include <stddef.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include <unistd.h>
#include <px4_platform_common/getopt.h>
#include <errno.h>
#include <lib/parameters/param.h>
#include <systemlib/err.h>
#include <perf/perf_counter.h>
#include <systemlib/mavlink_log.h>

#include <drivers/drv_hrt.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_gyro.h>
#include <drivers/drv_mag.h>
#include <drivers/device/integrator.h>
#include <mathlib/math/filter/LowPassFilter2p.hpp>

#include <lib/conversion/rotation.h>

#include <uORB/topics/parameter_update.h>

#include <mpu9250/MPU9250.hpp>
#include <DevMgr.hpp>

#define MPU9250_ACCEL_DEFAULT_RATE 1000
#define MPU9250_GYRO_DEFAULT_RATE 1000

#define MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ 30
#define MPU9250_GYRO_DEFAULT_DRIVER_FILTER_FREQ 30

#define MPU9250_PUB_RATE 280


extern "C" { __EXPORT int df_mpu9250_wrapper_main(int argc, char *argv[]); }

using namespace DriverFramework;


class DfMpu9250Wrapper : public MPU9250
{
public:
    DfMpu9250Wrapper(bool mag_enabled, enum Rotation rotation);
    ~DfMpu9250Wrapper();


    /**
     * Start automatic measurement.
     *
     * @return 0 on success
     */
    int     start();

    /**
     * Stop automatic measurement.
     *
     * @return 0 on success
     */
    int     stop();

    /**
     * Print some debug info.
     */
    void        info();

private:
    int _publish(struct imu_sensor_data &data);

    void _update_accel_calibration();
    void _update_gyro_calibration();
    void _update_mag_calibration();

    orb_advert_t            _accel_topic;
    orb_advert_t            _gyro_topic;
    orb_advert_t            _mag_topic;

    orb_advert_t            _mavlink_log_pub;

    int             _param_update_sub;

    struct accel_calibration_s {
        float x_offset;
        float x_scale;
        float y_offset;
        float y_scale;
        float z_offset;
        float z_scale;
    } _accel_calibration;

    struct gyro_calibration_s {
        float x_offset;
        float x_scale;
        float y_offset;
        float y_scale;
        float z_offset;
        float z_scale;
    } _gyro_calibration;

    struct mag_calibration_s {
        float x_offset;
        float x_scale;
        float y_offset;
        float y_scale;
        float z_offset;
        float z_scale;
    } _mag_calibration;

    int             _accel_orb_class_instance;
    int             _gyro_orb_class_instance;
    int             _mag_orb_class_instance;

    Integrator          _accel_int;
    Integrator          _gyro_int;

    math::LowPassFilter2p   _accel_filter_x;
    math::LowPassFilter2p   _accel_filter_y;
    math::LowPassFilter2p   _accel_filter_z;
    math::LowPassFilter2p   _gyro_filter_x;
    math::LowPassFilter2p   _gyro_filter_y;
    math::LowPassFilter2p   _gyro_filter_z;

    perf_counter_t          _read_counter;
    perf_counter_t          _error_counter;
    perf_counter_t          _fifo_overflow_counter;
    perf_counter_t          _fifo_corruption_counter;
    perf_counter_t          _gyro_range_hit_counter;
    perf_counter_t          _accel_range_hit_counter;
    perf_counter_t          _mag_fifo_overflow_counter;
    perf_counter_t          _publish_perf;

    hrt_abstime         _last_accel_range_hit_time;
    uint64_t            _last_accel_range_hit_count;

    bool _mag_enabled;

    enum Rotation _rotation;
};

DfMpu9250Wrapper::DfMpu9250Wrapper(bool mag_enabled, enum Rotation rotation) :
    MPU9250(IMU_DEVICE_PATH, mag_enabled),
    _accel_topic(nullptr),
    _gyro_topic(nullptr),
    _mag_topic(nullptr),
    _mavlink_log_pub(nullptr),
    _param_update_sub(-1),
    _accel_calibration{},
    _gyro_calibration{},
    _mag_calibration{},
    _accel_orb_class_instance(-1),
    _gyro_orb_class_instance(-1),
    _mag_orb_class_instance(-1),
    _accel_int(1000000 / MPU9250_PUB_RATE, false),
    _gyro_int(1000000 / MPU9250_PUB_RATE, true),
    _accel_filter_x(MPU9250_ACCEL_DEFAULT_RATE, MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
    _accel_filter_y(MPU9250_ACCEL_DEFAULT_RATE, MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
    _accel_filter_z(MPU9250_ACCEL_DEFAULT_RATE, MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
    _gyro_filter_x(MPU9250_GYRO_DEFAULT_RATE, MPU9250_GYRO_DEFAULT_DRIVER_FILTER_FREQ),
    _gyro_filter_y(MPU9250_GYRO_DEFAULT_RATE, MPU9250_GYRO_DEFAULT_DRIVER_FILTER_FREQ),
    _gyro_filter_z(MPU9250_GYRO_DEFAULT_RATE, MPU9250_GYRO_DEFAULT_DRIVER_FILTER_FREQ),
    _read_counter(perf_alloc(PC_COUNT, "mpu9250_reads")),
    _error_counter(perf_alloc(PC_COUNT, "mpu9250_errors")),
    _fifo_overflow_counter(perf_alloc(PC_COUNT, "mpu9250_fifo_overflows")),
    _fifo_corruption_counter(perf_alloc(PC_COUNT, "mpu9250_fifo_corruptions")),
    _gyro_range_hit_counter(perf_alloc(PC_COUNT, "mpu9250_gyro_range_hits")),
    _accel_range_hit_counter(perf_alloc(PC_COUNT, "mpu9250_accel_range_hits")),
    _mag_fifo_overflow_counter(perf_alloc(PC_COUNT, "mpu9250_mag_fifo_overflows")),
    _publish_perf(perf_alloc(PC_ELAPSED, "mpu9250_publish")),
    _last_accel_range_hit_time(0),
    _last_accel_range_hit_count(0),
    _mag_enabled(mag_enabled),
    _rotation(rotation)
{
    // Set sane default calibration values
    _accel_calibration.x_scale = 1.0f;
    _accel_calibration.y_scale = 1.0f;
    _accel_calibration.z_scale = 1.0f;
    _accel_calibration.x_offset = 0.0f;
    _accel_calibration.y_offset = 0.0f;
    _accel_calibration.z_offset = 0.0f;

    _gyro_calibration.x_scale = 1.0f;
    _gyro_calibration.y_scale = 1.0f;
    _gyro_calibration.z_scale = 1.0f;
    _gyro_calibration.x_offset = 0.0f;
    _gyro_calibration.y_offset = 0.0f;
    _gyro_calibration.z_offset = 0.0f;

    if (_mag_enabled) {
        _mag_calibration.x_scale = 1.0f;
        _mag_calibration.y_scale = 1.0f;
        _mag_calibration.z_scale = 1.0f;
        _mag_calibration.x_offset = 0.0f;
        _mag_calibration.y_offset = 0.0f;
        _mag_calibration.z_offset = 0.0f;
    }

    // set software low pass filter for controllers
    param_t param_handle = param_find("IMU_ACCEL_CUTOFF");
    float param_val = MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ;

    if (param_handle != PARAM_INVALID && (param_get(param_handle, &param_val) == PX4_OK)) {
        _accel_filter_x.set_cutoff_frequency(MPU9250_ACCEL_DEFAULT_RATE, param_val);
        _accel_filter_y.set_cutoff_frequency(MPU9250_ACCEL_DEFAULT_RATE, param_val);
        _accel_filter_z.set_cutoff_frequency(MPU9250_ACCEL_DEFAULT_RATE, param_val);

    } else {
        PX4_ERR("IMU_ACCEL_CUTOFF param invalid");
    }

    param_handle = param_find("IMU_GYRO_CUTOFF");
    param_val = MPU9250_GYRO_DEFAULT_DRIVER_FILTER_FREQ;

    if (param_handle != PARAM_INVALID && (param_get(param_handle, &param_val) == PX4_OK)) {
        _gyro_filter_x.set_cutoff_frequency(MPU9250_GYRO_DEFAULT_RATE, param_val);
        _gyro_filter_y.set_cutoff_frequency(MPU9250_GYRO_DEFAULT_RATE, param_val);
        _gyro_filter_z.set_cutoff_frequency(MPU9250_GYRO_DEFAULT_RATE, param_val);

    } else {
        PX4_ERR("IMU_GYRO_CUTOFF param invalid");
    }
}

DfMpu9250Wrapper::~DfMpu9250Wrapper()
{
    perf_free(_read_counter);
    perf_free(_error_counter);
    perf_free(_fifo_overflow_counter);
    perf_free(_fifo_corruption_counter);
    perf_free(_gyro_range_hit_counter);
    perf_free(_accel_range_hit_counter);

    if (_mag_enabled) {
        perf_free(_mag_fifo_overflow_counter);
    }

    perf_free(_publish_perf);
}

int DfMpu9250Wrapper::start()
{
    // TODO: don't publish garbage here
    sensor_accel_s accel_report = {};
    _accel_topic = orb_advertise_multi(ORB_ID(sensor_accel), &accel_report,
                       &_accel_orb_class_instance, ORB_PRIO_DEFAULT);

    if (_accel_topic == nullptr) {
        PX4_ERR("sensor_accel advert fail");
        return -1;
    }

    // TODO: don't publish garbage here
    sensor_gyro_s gyro_report = {};
    _gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &gyro_report,
                      &_gyro_orb_class_instance, ORB_PRIO_DEFAULT);

    if (_gyro_topic == nullptr) {
        PX4_ERR("sensor_gyro advert fail");
        return -1;
    }

    if (_mag_enabled) {
    }

    /* Subscribe to param update topic. */
    if (_param_update_sub < 0) {
        _param_update_sub = orb_subscribe(ORB_ID(parameter_update));
    }

    /* Init device and start sensor. */
    int ret = init();

    if (ret != 0) {
        PX4_ERR("MPU9250 init fail: %d", ret);
        return ret;
    }

    ret = MPU9250::start();

    if (ret != 0) {
        PX4_ERR("MPU9250 start fail: %d", ret);
        return ret;
    }

    PX4_DEBUG("MPU9250 device id is: %d", m_id.dev_id);

    /* Force getting the calibration values. */
    _update_accel_calibration();
    _update_gyro_calibration();
    _update_mag_calibration();

    return 0;
}

int DfMpu9250Wrapper::stop()
{
    /* Stop sensor. */
    int ret = MPU9250::stop();

    if (ret != 0) {
        PX4_ERR("MPU9250 stop fail: %d", ret);
        return ret;
    }

    return 0;
}

void DfMpu9250Wrapper::info()
{
    perf_print_counter(_read_counter);
    perf_print_counter(_error_counter);
    perf_print_counter(_fifo_overflow_counter);
    perf_print_counter(_fifo_corruption_counter);
    perf_print_counter(_gyro_range_hit_counter);
    perf_print_counter(_accel_range_hit_counter);

    if (_mag_enabled) {
        perf_print_counter(_mag_fifo_overflow_counter);
    }

    perf_print_counter(_publish_perf);
}

void DfMpu9250Wrapper::_update_gyro_calibration()
{
    // TODO: replace magic number
    for (unsigned i = 0; i < 3; ++i) {

        // TODO: remove printfs and add error counter

        char str[30];
        (void)sprintf(str, "CAL_GYRO%u_ID", i);
        int32_t device_id;
        int res = param_get(param_find(str), &device_id);

        if (res != OK) {
            PX4_ERR("Could not access param %s", str);
            continue;
        }

        if ((uint32_t)device_id != m_id.dev_id) {
            continue;
        }

        (void)sprintf(str, "CAL_GYRO%u_XSCALE", i);
        res = param_get(param_find(str), &_gyro_calibration.x_scale);

        if (res != OK) {
            PX4_ERR("Could not access param %s", str);
        }

        (void)sprintf(str, "CAL_GYRO%u_YSCALE", i);
        res = param_get(param_find(str), &_gyro_calibration.y_scale);

        if (res != OK) {
            PX4_ERR("Could not access param %s", str);
        }

        (void)sprintf(str, "CAL_GYRO%u_ZSCALE", i);
        res = param_get(param_find(str), &_gyro_calibration.z_scale);

        if (res != OK) {
            PX4_ERR("Could not access param %s", str);
        }

        (void)sprintf(str, "CAL_GYRO%u_XOFF", i);
        res = param_get(param_find(str), &_gyro_calibration.x_offset);

        if (res != OK) {
            PX4_ERR("Could not access param %s", str);
        }

        (void)sprintf(str, "CAL_GYRO%u_YOFF", i);
        res = param_get(param_find(str), &_gyro_calibration.y_offset);

        if (res != OK) {
            PX4_ERR("Could not access param %s", str);
        }

        (void)sprintf(str, "CAL_GYRO%u_ZOFF", i);
        res = param_get(param_find(str), &_gyro_calibration.z_offset);

        if (res != OK) {
            PX4_ERR("Could not access param %s", str);
        }

        // We got calibration values, let's exit.
        return;
    }

    _gyro_calibration.x_scale = 1.0f;
    _gyro_calibration.y_scale = 1.0f;
    _gyro_calibration.z_scale = 1.0f;
    _gyro_calibration.x_offset = 0.0f;
    _gyro_calibration.y_offset = 0.0f;
    _gyro_calibration.z_offset = 0.0f;
}

void DfMpu9250Wrapper::_update_accel_calibration()
{
    // TODO: replace magic number
    for (unsigned i = 0; i < 3; ++i) {

        // TODO: remove printfs and add error counter

        char str[30];
        (void)sprintf(str, "CAL_ACC%u_ID", i);
        int32_t device_id;
        int res = param_get(param_find(str), &device_id);

        if (res != OK) {
            PX4_ERR("Could not access param %s", str);
            continue;
        }

        if ((uint32_t)device_id != m_id.dev_id) {
            continue;
        }

        (void)sprintf(str, "CAL_ACC%u_XSCALE", i);
        res = param_get(param_find(str), &_accel_calibration.x_scale);

        if (res != OK) {
            PX4_ERR("Could not access param %s", str);
        }

        (void)sprintf(str, "CAL_ACC%u_YSCALE", i);
        res = param_get(param_find(str), &_accel_calibration.y_scale);

        if (res != OK) {
            PX4_ERR("Could not access param %s", str);
        }

        (void)sprintf(str, "CAL_ACC%u_ZSCALE", i);
        res = param_get(param_find(str), &_accel_calibration.z_scale);

        if (res != OK) {
            PX4_ERR("Could not access param %s", str);
        }

        (void)sprintf(str, "CAL_ACC%u_XOFF", i);
        res = param_get(param_find(str), &_accel_calibration.x_offset);

        if (res != OK) {
            PX4_ERR("Could not access param %s", str);
        }

        (void)sprintf(str, "CAL_ACC%u_YOFF", i);
        res = param_get(param_find(str), &_accel_calibration.y_offset);

        if (res != OK) {
            PX4_ERR("Could not access param %s", str);
        }

        (void)sprintf(str, "CAL_ACC%u_ZOFF", i);
        res = param_get(param_find(str), &_accel_calibration.z_offset);

        if (res != OK) {
            PX4_ERR("Could not access param %s", str);
        }

        // We got calibration values, let's exit.
        return;
    }

    // Set sane default calibration values
    _accel_calibration.x_scale = 1.0f;
    _accel_calibration.y_scale = 1.0f;
    _accel_calibration.z_scale = 1.0f;
    _accel_calibration.x_offset = 0.0f;
    _accel_calibration.y_offset = 0.0f;
    _accel_calibration.z_offset = 0.0f;
}

void DfMpu9250Wrapper::_update_mag_calibration()
{
    if (!_mag_enabled) {
        return;
    }

    // TODO: replace magic number
    for (unsigned i = 0; i < 3; ++i) {

        // TODO: remove printfs and add error counter

        char str[30];
        (void)sprintf(str, "CAL_MAG%u_ID", i);
        int32_t device_id;
        int res = param_get(param_find(str), &device_id);

        if (res != OK) {
            PX4_ERR("Could not access param %s", str);
            continue;
        }

        if ((uint32_t)device_id != m_id.dev_id) {
            continue;
        }

        (void)sprintf(str, "CAL_MAG%u_XSCALE", i);
        res = param_get(param_find(str), &_mag_calibration.x_scale);

        if (res != OK) {
            PX4_ERR("Could not access param %s", str);
        }

        (void)sprintf(str, "CAL_MAG%u_YSCALE", i);
        res = param_get(param_find(str), &_mag_calibration.y_scale);

        if (res != OK) {
            PX4_ERR("Could not access param %s", str);
        }

        (void)sprintf(str, "CAL_MAG%u_ZSCALE", i);
        res = param_get(param_find(str), &_mag_calibration.z_scale);

        if (res != OK) {
            PX4_ERR("Could not access param %s", str);
        }

        (void)sprintf(str, "CAL_MAG%u_XOFF", i);
        res = param_get(param_find(str), &_mag_calibration.x_offset);

        if (res != OK) {
            PX4_ERR("Could not access param %s", str);
        }

        (void)sprintf(str, "CAL_MAG%u_YOFF", i);
        res = param_get(param_find(str), &_mag_calibration.y_offset);

        if (res != OK) {
            PX4_ERR("Could not access param %s", str);
        }

        (void)sprintf(str, "CAL_MAG%u_ZOFF", i);
        res = param_get(param_find(str), &_mag_calibration.z_offset);

        if (res != OK) {
            PX4_ERR("Could not access param %s", str);
        }

        // We got calibration values, let's exit.
        return;
    }

    // Set sane default calibration values
    _mag_calibration.x_scale = 1.0f;
    _mag_calibration.y_scale = 1.0f;
    _mag_calibration.z_scale = 1.0f;
    _mag_calibration.x_offset = 0.0f;
    _mag_calibration.y_offset = 0.0f;
    _mag_calibration.z_offset = 0.0f;
}

int DfMpu9250Wrapper::_publish(struct imu_sensor_data &data)
{
    /* Check if calibration values are still up-to-date. */
    bool updated;
    orb_check(_param_update_sub, &updated);

    if (updated) {
        parameter_update_s parameter_update;
        orb_copy(ORB_ID(parameter_update), _param_update_sub, &parameter_update);

        _update_accel_calibration();
        _update_gyro_calibration();
        _update_mag_calibration();
    }

    sensor_accel_s accel_report = {};
    sensor_gyro_s gyro_report = {};
    mag_report mag_report = {};

    accel_report.timestamp = gyro_report.timestamp = hrt_absolute_time();

    accel_report.error_count = gyro_report.error_count = mag_report.error_count = data.error_counter;

    // ACCEL

    float xraw_f = data.accel_m_s2_x;
    float yraw_f = data.accel_m_s2_y;
    float zraw_f = data.accel_m_s2_z;

    // apply user specified rotation
    rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);

    // MPU9250 driver from DriverFramework does not provide any raw values
    // TEMP We misuse the raw values on the Snapdragon to publish unfiltered data for VISLAM
    accel_report.x_raw = (int16_t)(xraw_f * 1000); // (int16) [m / s^2 * 1000];
    accel_report.y_raw = (int16_t)(yraw_f * 1000); // (int16) [m / s^2 * 1000];
    accel_report.z_raw = (int16_t)(zraw_f * 1000); // (int16) [m / s^2 * 1000];

    // adjust values according to the calibration
    float x_in_new = (xraw_f - _accel_calibration.x_offset) * _accel_calibration.x_scale;
    float y_in_new = (yraw_f - _accel_calibration.y_offset) * _accel_calibration.y_scale;
    float z_in_new = (zraw_f - _accel_calibration.z_offset) * _accel_calibration.z_scale;

    accel_report.x = _accel_filter_x.apply(x_in_new);
    accel_report.y = _accel_filter_y.apply(y_in_new);
    accel_report.z = _accel_filter_z.apply(z_in_new);

    matrix::Vector3f aval(x_in_new, y_in_new, z_in_new);
    matrix::Vector3f aval_integrated;

    _accel_int.put(accel_report.timestamp, aval, aval_integrated, accel_report.integral_dt);
    accel_report.x_integral = aval_integrated(0);
    accel_report.y_integral = aval_integrated(1);
    accel_report.z_integral = aval_integrated(2);

    // GYRO

    xraw_f = data.gyro_rad_s_x;
    yraw_f = data.gyro_rad_s_y;
    zraw_f = data.gyro_rad_s_z;

    // apply user specified rotation
    rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);

    // MPU9250 driver from DriverFramework does not provide any raw values
    // TEMP We misuse the raw values on the Snapdragon to publish unfiltered data for VISLAM
    gyro_report.x_raw = (int16_t)(xraw_f * 1000); // (int16) [rad / s * 1000];
    gyro_report.y_raw = (int16_t)(yraw_f * 1000); // (int16) [rad / s * 1000];
    gyro_report.z_raw = (int16_t)(zraw_f * 1000); // (int16) [rad / s * 1000];

    // adjust values according to the calibration
    float x_gyro_in_new = (xraw_f - _gyro_calibration.x_offset) * _gyro_calibration.x_scale;
    float y_gyro_in_new = (yraw_f - _gyro_calibration.y_offset) * _gyro_calibration.y_scale;
    float z_gyro_in_new = (zraw_f - _gyro_calibration.z_offset) * _gyro_calibration.z_scale;

    gyro_report.x = _gyro_filter_x.apply(x_gyro_in_new);
    gyro_report.y = _gyro_filter_y.apply(y_gyro_in_new);
    gyro_report.z = _gyro_filter_z.apply(z_gyro_in_new);

    matrix::Vector3f gval(x_gyro_in_new, y_gyro_in_new, z_gyro_in_new);
    matrix::Vector3f gval_integrated;

    bool sensor_notify = _gyro_int.put(gyro_report.timestamp, gval, gval_integrated, gyro_report.integral_dt);
    gyro_report.x_integral = gval_integrated(0);
    gyro_report.y_integral = gval_integrated(1);
    gyro_report.z_integral = gval_integrated(2);


    // if gyro integrator did not return a sample we can return here
    // Note: the accel integrator receives the same timestamp as the gyro integrator
    // so we do not need to handle it seperately
    if (!sensor_notify) {
        return 0;
    }

    // Update all the counters.
    perf_set_count(_read_counter, data.read_counter);
    perf_set_count(_error_counter, data.error_counter);
    perf_set_count(_fifo_overflow_counter, data.fifo_overflow_counter);
    perf_set_count(_fifo_corruption_counter, data.fifo_overflow_counter);
    perf_set_count(_gyro_range_hit_counter, data.gyro_range_hit_counter);
    perf_set_count(_accel_range_hit_counter, data.accel_range_hit_counter);

    if (_mag_enabled) {
        perf_set_count(_mag_fifo_overflow_counter, data.mag_fifo_overflow_counter);
    }

    perf_begin(_publish_perf);

    // TODO: get these right
    gyro_report.scaling = -1.0f;
    gyro_report.device_id = m_id.dev_id;

    accel_report.scaling = -1.0f;
    accel_report.device_id = m_id.dev_id;

    if (_mag_enabled) {
        mag_report.timestamp = accel_report.timestamp;
        mag_report.is_external = false;

        mag_report.scaling = -1.0f;
        mag_report.device_id = m_id.dev_id;

        xraw_f = data.mag_ga_x;
        yraw_f = data.mag_ga_y;
        zraw_f = data.mag_ga_z;

        rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);

        // MPU9250 driver from DriverFramework does not provide any raw values
        // TEMP We misuse the raw values on the Snapdragon to publish unfiltered data for VISLAM
        mag_report.x_raw = xraw_f * 1000; // (int16) [Gs * 1000]
        mag_report.y_raw = yraw_f * 1000; // (int16) [Gs * 1000]
        mag_report.z_raw = zraw_f * 1000; // (int16) [Gs * 1000]

        mag_report.x = (xraw_f - _mag_calibration.x_offset) * _mag_calibration.x_scale;
        mag_report.y = (yraw_f - _mag_calibration.y_offset) * _mag_calibration.y_scale;
        mag_report.z = (zraw_f - _mag_calibration.z_offset) * _mag_calibration.z_scale;
    }

    // TODO: when is this ever blocked?
    if (!(m_pub_blocked) && sensor_notify) {

        if (_gyro_topic != nullptr) {
            orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &gyro_report);
        }

        if (_accel_topic != nullptr) {
            orb_publish(ORB_ID(sensor_accel), _accel_topic, &accel_report);
        }

        if (_mag_enabled) {

            if (_mag_topic == nullptr) {
                _mag_topic = orb_advertise_multi(ORB_ID(sensor_mag), &mag_report,
                                 &_mag_orb_class_instance, ORB_PRIO_LOW);

            } else {
                orb_publish(ORB_ID(sensor_mag), _mag_topic, &mag_report);
            }
        }

        // Report if there are high vibrations, every 10 times it happens.
        const bool threshold_reached = (data.accel_range_hit_counter - _last_accel_range_hit_count > 10);

        // Report every 5s.
        const bool due_to_report = (hrt_elapsed_time(&_last_accel_range_hit_time) > 5000000);

        if (threshold_reached && due_to_report) {
            mavlink_log_critical(&_mavlink_log_pub,
                         "High accelerations, range exceeded %llu times",
                         data.accel_range_hit_counter);

            _last_accel_range_hit_time = hrt_absolute_time();
            _last_accel_range_hit_count = data.accel_range_hit_counter;
        }
    }

    perf_end(_publish_perf);

    // TODO: check the return codes of this function
    return 0;
};


namespace df_mpu9250_wrapper
{

DfMpu9250Wrapper *g_dev = nullptr;

int start(bool mag_enabled, enum Rotation rotation);
int stop();
int info();
void usage();

int start(bool mag_enabled, enum Rotation rotation)
{
    g_dev = new DfMpu9250Wrapper(mag_enabled, rotation);

    if (g_dev == nullptr) {
        PX4_ERR("failed instantiating DfMpu9250Wrapper object");
        return -1;
    }

    int ret = g_dev->start();

    if (ret != 0) {
        PX4_ERR("DfMpu9250Wrapper start failed");
        return ret;
    }

    // Open the IMU sensor
    DevHandle h;
    DevMgr::getHandle(IMU_DEVICE_PATH, h);

    if (!h.isValid()) {
        DF_LOG_INFO("Error: unable to obtain a valid handle for the receiver at: %s (%d)",
                IMU_DEVICE_PATH, h.getError());
        return -1;
    }

    DevMgr::releaseHandle(h);

    return 0;
}

int stop()
{
    if (g_dev == nullptr) {
        PX4_ERR("driver not running");
        return 1;
    }

    int ret = g_dev->stop();

    if (ret != 0) {
        PX4_ERR("driver could not be stopped");
        return ret;
    }

    delete g_dev;
    g_dev = nullptr;
    return 0;
}

/**
 * Print a little info about the driver.
 */
int
info()
{
    if (g_dev == nullptr) {
        PX4_ERR("driver not running");
        return 1;
    }

    PX4_INFO("state @ %p", g_dev);
    g_dev->info();

    return 0;
}

void
usage()
{
    PX4_INFO("Usage: df_mpu9250_wrapper 'start', 'start_without_mag', 'info', 'stop'");
    PX4_INFO("options:");
    PX4_INFO("    -R rotation");
}

} // namespace df_mpu9250_wrapper


int
df_mpu9250_wrapper_main(int argc, char *argv[])
{
    int ch;
    enum Rotation rotation = ROTATION_NONE;
    int ret = 0;
    int myoptind = 1;
    const char *myoptarg = NULL;

    /* jump over start/off/etc and look at options first */
    while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) {
        switch (ch) {
        case 'R':
            rotation = (enum Rotation)atoi(myoptarg);
            break;

        default:
            df_mpu9250_wrapper::usage();
            return 0;
        }
    }

    if (argc <= 1) {
        df_mpu9250_wrapper::usage();
        return 1;
    }

    const char *verb = argv[myoptind];

    if (!strcmp(verb, "start_without_mag")) {
        ret = df_mpu9250_wrapper::start(false, rotation);
    }

    else if (!strcmp(verb, "start")) {
        ret = df_mpu9250_wrapper::start(true, rotation);
    }

    else if (!strcmp(verb, "stop")) {
        ret = df_mpu9250_wrapper::stop();
    }

    else if (!strcmp(verb, "info")) {
        ret = df_mpu9250_wrapper::info();
    }

    else {
        df_mpu9250_wrapper::usage();
        return 1;
    }

    return ret;
}