voted_sensors_update.h

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.
 *
 ****************************************************************************/

#pragma once

#include "parameters.h"

#include <drivers/drv_accel.h>
#include <drivers/drv_gyro.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_baro.h>
#include <drivers/drv_hrt.h>

#include <mathlib/mathlib.h>

#include <lib/ecl/validation/data_validator.h>
#include <lib/ecl/validation/data_validator_group.h>

#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/sensor_preflight.h>
#include <uORB/topics/sensor_correction.h>
#include <uORB/topics/sensor_selection.h>
#include <uORB/topics/vehicle_air_data.h>
#include <uORB/topics/vehicle_magnetometer.h>
#include <uORB/topics/subsystem_info.h>

#include <DevMgr.hpp>

#include "temperature_compensation.h"
#include "common.h"

namespace sensors
{

class VotedSensorsUpdate
{
public:
    VotedSensorsUpdate(const Parameters &parameters, bool hil_enabled);

    int init(sensor_combined_s &raw);

    void initialize_sensors();

    void deinit();

    void print_status();

    void parameters_update();

    void sensors_poll(sensor_combined_s &raw, vehicle_air_data_s &airdata, vehicle_magnetometer_s &magnetometer);

    void set_relative_timestamps(sensor_combined_s &raw);

    void check_failover();

    int num_gyros() const { return _gyro.subscription_count; }
    int gyro_fd(int idx) const { return _gyro.subscription[idx]; }

    int best_gyro_fd() const { return _gyro.subscription[_gyro.last_best_vote]; }

    void calc_accel_inconsistency(sensor_preflight_s &preflt);

    void calc_gyro_inconsistency(sensor_preflight_s &preflt);

    void calc_mag_inconsistency(sensor_preflight_s &preflt);

private:

    struct SensorData {
        SensorData()
            : last_best_vote(0),
              subscription_count(0),
              voter(1),
              last_failover_count(0)
        {
            for (unsigned i = 0; i < SENSOR_COUNT_MAX; i++) {
                enabled[i] = true;
                subscription[i] = -1;
                priority[i] = 0;
            }
        }

        bool enabled[SENSOR_COUNT_MAX];

        int subscription[SENSOR_COUNT_MAX]; 
        uint8_t priority[SENSOR_COUNT_MAX]; 
        uint8_t last_best_vote; 
        int subscription_count;
        DataValidatorGroup voter;
        unsigned int last_failover_count;
    };

    void    init_sensor_class(const struct orb_metadata *meta, SensorData &sensor_data, uint8_t sensor_count_max);

    void        accel_poll(struct sensor_combined_s &raw);

    void        gyro_poll(struct sensor_combined_s &raw);

    void        mag_poll(vehicle_magnetometer_s &magnetometer);

    void        baro_poll(vehicle_air_data_s &airdata);

    bool check_failover(SensorData &sensor, const char *sensor_name, const uint64_t type);

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

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

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

    SensorData _gyro;
    SensorData _accel;
    SensorData _mag;
    SensorData _baro;

    orb_advert_t    _mavlink_log_pub = nullptr;

    sensor_combined_s _last_sensor_data[SENSOR_COUNT_MAX]; 
    vehicle_air_data_s _last_airdata[SENSOR_COUNT_MAX]; 
    vehicle_magnetometer_s _last_magnetometer[SENSOR_COUNT_MAX]; 
    uint64_t _last_accel_timestamp[ACCEL_COUNT_MAX]; 
    matrix::Dcmf    _board_rotation;    
    matrix::Dcmf    _mag_rotation[MAG_COUNT_MAX];   
    const Parameters &_parameters;
    const bool _hil_enabled; 
    float _accel_diff[3][2];    
    float _gyro_diff[3][2];     
    float _mag_diff[3][2];      
    /* sensor thermal compensation */
    TemperatureCompensation _temperature_compensation;
    struct sensor_correction_s _corrections; 
    orb_advert_t _sensor_correction_pub = nullptr; 
    bool _corrections_changed = false;

    /* sensor selection publication */
    struct sensor_selection_s _selection = {}; 
    orb_advert_t _sensor_selection_pub = nullptr; 
    bool _selection_changed = false; 
    /* subsystem info publication */
    struct subsystem_info_s _info;
    orb_advert_t _info_pub = nullptr;

    uint32_t _accel_device_id[SENSOR_COUNT_MAX] = {}; 
    uint32_t _baro_device_id[SENSOR_COUNT_MAX] = {};
    uint32_t _gyro_device_id[SENSOR_COUNT_MAX] = {};
    uint32_t _mag_device_id[SENSOR_COUNT_MAX] = {};

};



} /* namespace sensors */