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227 lines
8.4 KiB
227 lines
8.4 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#ifndef __AP_INERTIAL_SENSOR_H__ |
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#define __AP_INERTIAL_SENSOR_H__ |
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// Gyro and Accelerometer calibration criteria |
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#define AP_INERTIAL_SENSOR_ACCEL_TOT_MAX_OFFSET_CHANGE 4.0f |
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#define AP_INERTIAL_SENSOR_ACCEL_MAX_OFFSET 250.0f |
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/** |
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maximum number of INS instances available on this platform. If more |
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than 1 then redundent sensors may be available |
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*/ |
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 |
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#define INS_MAX_INSTANCES 2 |
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#else |
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#define INS_MAX_INSTANCES 1 |
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#endif |
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#include <stdint.h> |
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#include <AP_HAL.h> |
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#include <AP_Math.h> |
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#include "AP_InertialSensor_UserInteract.h" |
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/* AP_InertialSensor is an abstraction for gyro and accel measurements |
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* which are correctly aligned to the body axes and scaled to SI units. |
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* |
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* Gauss-Newton accel calibration routines borrowed from Rolfe Schmidt |
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* blog post describing the method: http://chionophilous.wordpress.com/2011/10/24/accelerometer-calibration-iv-1-implementing-gauss-newton-on-an-atmega/ |
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* original sketch available at http://rolfeschmidt.com/mathtools/skimetrics/adxl_gn_calibration.pde |
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*/ |
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class AP_InertialSensor |
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{ |
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public: |
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AP_InertialSensor(); |
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enum Start_style { |
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COLD_START = 0, |
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WARM_START |
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}; |
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// the rate that updates will be available to the application |
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enum Sample_rate { |
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RATE_50HZ, |
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RATE_100HZ, |
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RATE_200HZ, |
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RATE_400HZ |
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}; |
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/// Perform startup initialisation. |
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/// |
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/// Called to initialise the state of the IMU. |
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/// |
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/// For COLD_START, implementations using real sensors can assume |
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/// that the airframe is stationary and nominally oriented. |
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/// |
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/// For WARM_START, no assumptions should be made about the |
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/// orientation or motion of the airframe. Calibration should be |
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/// as for the previous COLD_START call. |
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/// |
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/// @param style The initialisation startup style. |
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/// |
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virtual void init( Start_style style, |
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Sample_rate sample_rate); |
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/// Perform cold startup initialisation for just the accelerometers. |
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/// |
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/// @note This should not be called unless ::init has previously |
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/// been called, as ::init may perform other work. |
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/// |
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virtual void init_accel(); |
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#if !defined( __AVR_ATmega1280__ ) |
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// perform accelerometer calibration including providing user instructions |
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// and feedback |
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virtual bool calibrate_accel(AP_InertialSensor_UserInteract *interact, |
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float& trim_roll, |
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float& trim_pitch); |
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#endif |
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/// calibrated - returns true if the accelerometers have been calibrated |
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/// |
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/// @note this should not be called while flying because it reads from the eeprom which can be slow |
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/// |
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bool calibrated(); |
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/// Perform cold-start initialisation for just the gyros. |
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/// |
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/// @note This should not be called unless ::init has previously |
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/// been called, as ::init may perform other work |
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/// |
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virtual void init_gyro(void); |
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/// Fetch the current gyro values |
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/// |
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/// @returns vector of rotational rates in radians/sec |
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/// |
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const Vector3f &get_gyro(uint8_t i) const { return _gyro[i]; } |
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const Vector3f &get_gyro(void) const { return get_gyro(_get_primary_gyro()); } |
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virtual void set_gyro(const Vector3f &gyro) {} |
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// set gyro offsets in radians/sec |
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const Vector3f &get_gyro_offsets(uint8_t i) const { return _gyro_offset[i]; } |
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const Vector3f &get_gyro_offsets(void) const { return get_gyro_offsets(_get_primary_gyro()); } |
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/// Fetch the current accelerometer values |
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/// |
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/// @returns vector of current accelerations in m/s/s |
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/// |
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const Vector3f &get_accel(uint8_t i) const { return _accel[i]; } |
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const Vector3f &get_accel(void) const { return get_accel(_get_primary_accel()); } |
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virtual void set_accel(const Vector3f &accel) {} |
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// multi-device interface |
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virtual bool get_gyro_health(uint8_t instance) const { return true; } |
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bool get_gyro_health(void) const { return get_gyro_health(_get_primary_gyro()); } |
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virtual uint8_t get_gyro_count(void) const { return 1; }; |
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virtual bool get_accel_health(uint8_t instance) const { return true; } |
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bool get_accel_health(void) const { return get_accel_health(_get_primary_accel()); } |
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virtual uint8_t get_accel_count(void) const { return 1; }; |
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// get accel offsets in m/s/s |
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const Vector3f &get_accel_offsets(uint8_t i) const { return _accel_offset[i]; } |
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const Vector3f &get_accel_offsets(void) const { return get_accel_offsets(_get_primary_accel()); } |
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// get accel scale |
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const Vector3f &get_accel_scale(uint8_t i) const { return _accel_scale[i]; } |
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const Vector3f &get_accel_scale(void) const { return get_accel_scale(_get_primary_accel()); } |
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/* Update the sensor data, so that getters are nonblocking. |
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* Returns a bool of whether data was updated or not. |
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*/ |
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virtual bool update() = 0; |
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/* get_delta_time returns the time period in seconds |
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* overwhich the sensor data was collected |
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*/ |
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virtual float get_delta_time() = 0; |
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// return the maximum gyro drift rate in radians/s/s. This |
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// depends on what gyro chips are being used |
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virtual float get_gyro_drift_rate(void) = 0; |
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// wait for a sample to be available, with timeout in milliseconds |
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virtual bool wait_for_sample(uint16_t timeout_ms) = 0; |
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// class level parameters |
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static const struct AP_Param::GroupInfo var_info[]; |
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// set overall board orientation |
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void set_board_orientation(enum Rotation orientation) { |
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_board_orientation = orientation; |
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} |
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// override default filter frequency |
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void set_default_filter(float filter_hz) { |
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if (!_mpu6000_filter.load()) { |
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_mpu6000_filter.set(filter_hz); |
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} |
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} |
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virtual uint16_t error_count(void) const { return 0; } |
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virtual bool healthy(void) const { return get_gyro_health() && get_accel_health(); } |
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protected: |
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virtual uint8_t _get_primary_gyro(void) const { return 0; } |
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virtual uint8_t _get_primary_accel(void) const { return 0; } |
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// sensor specific init to be overwritten by descendant classes |
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virtual uint16_t _init_sensor( Sample_rate sample_rate ) = 0; |
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// no-save implementations of accel and gyro initialisation routines |
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virtual void _init_accel(); |
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virtual void _init_gyro(); |
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#if !defined( __AVR_ATmega1280__ ) |
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// Calibration routines borrowed from Rolfe Schmidt |
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// blog post describing the method: http://chionophilous.wordpress.com/2011/10/24/accelerometer-calibration-iv-1-implementing-gauss-newton-on-an-atmega/ |
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// original sketch available at http://rolfeschmidt.com/mathtools/skimetrics/adxl_gn_calibration.pde |
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// _calibrate_accel - perform low level accel calibration |
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virtual bool _calibrate_accel(Vector3f accel_sample[6], Vector3f& accel_offsets, Vector3f& accel_scale); |
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virtual void _calibrate_update_matrices(float dS[6], float JS[6][6], float beta[6], float data[3]); |
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virtual void _calibrate_reset_matrices(float dS[6], float JS[6][6]); |
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virtual void _calibrate_find_delta(float dS[6], float JS[6][6], float delta[6]); |
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virtual void _calculate_trim(Vector3f accel_sample, float& trim_roll, float& trim_pitch); |
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#endif |
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// save parameters to eeprom |
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void _save_parameters(); |
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// Most recent accelerometer reading obtained by ::update |
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Vector3f _accel[INS_MAX_INSTANCES]; |
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// previous accelerometer reading obtained by ::update |
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Vector3f _previous_accel[INS_MAX_INSTANCES]; |
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// Most recent gyro reading obtained by ::update |
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Vector3f _gyro[INS_MAX_INSTANCES]; |
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// product id |
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AP_Int16 _product_id; |
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// accelerometer scaling and offsets |
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AP_Vector3f _accel_scale[INS_MAX_INSTANCES]; |
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AP_Vector3f _accel_offset[INS_MAX_INSTANCES]; |
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AP_Vector3f _gyro_offset[INS_MAX_INSTANCES]; |
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// filtering frequency (0 means default) |
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AP_Int8 _mpu6000_filter; |
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// board orientation from AHRS |
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enum Rotation _board_orientation; |
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}; |
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#include "AP_InertialSensor_Oilpan.h" |
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#include "AP_InertialSensor_MPU6000.h" |
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#include "AP_InertialSensor_HIL.h" |
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#include "AP_InertialSensor_PX4.h" |
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#include "AP_InertialSensor_UserInteract_Stream.h" |
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#include "AP_InertialSensor_UserInteract_MAVLink.h" |
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#include "AP_InertialSensor_Flymaple.h" |
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#include "AP_InertialSensor_L3G4200D.h" |
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#endif // __AP_INERTIAL_SENSOR_H__
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