Merge pull request #1540 from mhkabir/flow_orient

Add support for PX4Flow board orientation

src/drivers/drv_px4flow.h

@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file Rangefinder driver interface.
+ * @file PX4Flow driver interface.
  */
 
 #ifndef _DRV_PX4FLOW_H

src/drivers/drv_sensor.h

@@ -82,8 +82,19 @@
 #define SENSORIOCGQUEUEDEPTH	_SENSORIOC(3)
 
 /**
- * Reset the sensor to its default configuration.
+ * Reset the sensor to its default configuration
  */
 #define SENSORIOCRESET		_SENSORIOC(4)
 
-#endif /* _DRV_SENSOR_H */
+/**
+ * Set the sensor orientation
+ */
+#define SENSORIOCSROTATION	_SENSORIOC(5)
+
+/**
+ * Get the sensor orientation
+ */
+#define SENSORIOCGROTATION	_SENSORIOC(6)
+
+#endif /* _DRV_SENSOR_H */
+

src/drivers/px4flow/px4flow.cpp

@@ -62,6 +62,8 @@
 #include <systemlib/perf_counter.h>
 #include <systemlib/err.h>
 
+#include <conversion/rotation.h>
+
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_px4flow.h>
 #include <drivers/device/ringbuffer.h>
@@ -126,7 +128,7 @@ struct i2c_integral_frame f_integral;
 class PX4FLOW: public device::I2C
 {
 public:
-	PX4FLOW(int bus, int address = I2C_FLOW_ADDRESS);
+	PX4FLOW(int bus, int address = I2C_FLOW_ADDRESS, enum Rotation rotation = (enum Rotation)0);
 	virtual ~PX4FLOW();
 
 	virtual int 		init();
@@ -155,6 +157,8 @@ private:
 	perf_counter_t		_sample_perf;
 	perf_counter_t		_comms_errors;
 	perf_counter_t		_buffer_overflows;
+	
+	enum Rotation				_sensor_rotation;
 
 	/**
 	 * Test whether the device supported by the driver is present at a
@@ -200,7 +204,7 @@ private:
  */
 extern "C" __EXPORT int px4flow_main(int argc, char *argv[]);
 
-PX4FLOW::PX4FLOW(int bus, int address) :
+PX4FLOW::PX4FLOW(int bus, int address, enum Rotation rotation) :
 	I2C("PX4FLOW", PX4FLOW_DEVICE_PATH, bus, address, PX4FLOW_I2C_MAX_BUS_SPEED), /* 100-400 KHz */
 	_reports(nullptr),
 	_sensor_ok(false),
@@ -209,7 +213,8 @@ PX4FLOW::PX4FLOW(int bus, int address) :
 	_px4flow_topic(-1),
 	_sample_perf(perf_alloc(PC_ELAPSED, "px4flow_read")),
 	_comms_errors(perf_alloc(PC_COUNT, "px4flow_comms_errors")),
-	_buffer_overflows(perf_alloc(PC_COUNT, "px4flow_buffer_overflows"))
+	_buffer_overflows(perf_alloc(PC_COUNT, "px4flow_buffer_overflows")),
+	_sensor_rotation(rotation)
 {
 	// enable debug() calls
 	_debug_enabled = false;
@@ -362,6 +367,13 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg)
 	case SENSORIOCGQUEUEDEPTH:
 		return _reports->size();
 
+	case SENSORIOCSROTATION:
+		_sensor_rotation = (enum Rotation)arg;
+		return OK;
+
+	case SENSORIOCGROTATION:
+		return _sensor_rotation;
+
 	case SENSORIOCRESET:
 		/* XXX implement this */
 		return -EINVAL;
@@ -536,6 +548,10 @@ PX4FLOW::collect()
 	report.gyro_temperature = f_integral.gyro_temperature;//Temperature * 100 in centi-degrees Celsius
 
 	report.sensor_id = 0;
+	
+	/* rotate measurements according to parameter */
+	float zeroval = 0.0f;
+	rotate_3f(_sensor_rotation, report.pixel_flow_x_integral, report.pixel_flow_y_integral, zeroval); 
 
 	if (_px4flow_topic < 0) {
 		_px4flow_topic = orb_advertise(ORB_ID(optical_flow), &report);

src/modules/mavlink/mavlink_receiver.cpp

@@ -68,6 +68,8 @@
 
 #include <mathlib/mathlib.h>
 
+#include <conversion/rotation.h>
+
 #include <systemlib/param/param.h>
 #include <systemlib/systemlib.h>
 #include <systemlib/err.h>
@@ -357,6 +359,9 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
 	/* optical flow */
 	mavlink_optical_flow_rad_t flow;
 	mavlink_msg_optical_flow_rad_decode(msg, &flow);
+	
+	enum Rotation flow_rot;
+	param_get(param_find("SENS_FLOW_ROT"),&flow_rot);
 
 	struct optical_flow_s f;
 	memset(&f, 0, sizeof(f));
@@ -374,6 +379,10 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
 	f.sensor_id = flow.sensor_id;
 	f.gyro_temperature = flow.temperature;
 
+	/* rotate measurements according to parameter */
+	float zeroval = 0.0f; 
+	rotate_3f(flow_rot, f.pixel_flow_x_integral, f.pixel_flow_y_integral, zeroval); 
+
 	if (_flow_pub < 0) {
 		_flow_pub = orb_advertise(ORB_ID(optical_flow), &f);
 

src/modules/sensors/sensor_params.c

@@ -261,6 +261,25 @@ PARAM_DEFINE_FLOAT(SENS_BARO_QNH, 1013.25f);
  */
 PARAM_DEFINE_INT32(SENS_BOARD_ROT, 0);
 
+/**
+ * PX4Flow board rotation
+ *
+ * This parameter defines the rotation of the PX4FLOW board relative to the platform. 
+ * Zero rotation is defined as Y on flow board pointing towards front of vehicle
+ * Possible values are:
+ *    0 = No rotation
+ *    1 = Yaw 45°
+ *    2 = Yaw 90°
+ *    3 = Yaw 135°
+ *    4 = Yaw 180°
+ *    5 = Yaw 225°
+ *    6 = Yaw 270°
+ *    7 = Yaw 315°
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(SENS_FLOW_ROT, 0);
+
 /**
  * Board rotation Y (Pitch) offset
  *

src/modules/sensors/sensors.cpp

@@ -63,6 +63,7 @@
 #include <drivers/drv_rc_input.h>
 #include <drivers/drv_adc.h>
 #include <drivers/drv_airspeed.h>
+#include <drivers/drv_px4flow.h>
 
 #include <systemlib/systemlib.h>
 #include <systemlib/param/param.h>
@@ -263,6 +264,7 @@ private:
 		float diff_pres_analog_scale;
 
 		int board_rotation;
+		int flow_rotation;
 		int external_mag_rotation;
 
 		float board_offset[3];
@@ -361,6 +363,7 @@ private:
 		param_t battery_current_scaling;
 
 		param_t board_rotation;
+		param_t flow_rotation;
 		param_t external_mag_rotation;
 
 		param_t board_offset[3];
@@ -614,6 +617,7 @@ Sensors::Sensors() :
 
 	/* rotations */
 	_parameter_handles.board_rotation = param_find("SENS_BOARD_ROT");
+	_parameter_handles.flow_rotation = param_find("SENS_FLOW_ROT");
 	_parameter_handles.external_mag_rotation = param_find("SENS_EXT_MAG_ROT");
 
 	/* rotation offsets */
@@ -831,8 +835,22 @@ Sensors::parameters_update()
 	}
 
 	param_get(_parameter_handles.board_rotation, &(_parameters.board_rotation));
+	param_get(_parameter_handles.flow_rotation, &(_parameters.flow_rotation));
 	param_get(_parameter_handles.external_mag_rotation, &(_parameters.external_mag_rotation));
 
+	/* set px4flow rotation */
+	int	flowfd;
+	flowfd = open(PX4FLOW_DEVICE_PATH, 0);
+	if (flowfd >= 0) {
+ 		int flowret = ioctl(flowfd, SENSORIOCSROTATION, _parameters.flow_rotation);
+ 		if (flowret) {
+ 			warnx("flow rotation could not be set");
+			close(flowfd);
+			return ERROR;
+ 		}
+		close(flowfd);
+ 	}	
+	
 	get_rot_matrix((enum Rotation)_parameters.board_rotation, &_board_rotation);
 	get_rot_matrix((enum Rotation)_parameters.external_mag_rotation, &_external_mag_rotation);
 
@@ -850,20 +868,20 @@ Sensors::parameters_update()
 
 	/* update barometer qnh setting */
 	param_get(_parameter_handles.baro_qnh, &(_parameters.baro_qnh));
-	int	fd;
-	fd = open(BARO_DEVICE_PATH, 0);
-	if (fd < 0) {
+	int	barofd;
+	barofd = open(BARO_DEVICE_PATH, 0);
+	if (barofd < 0) {
 		warn("%s", BARO_DEVICE_PATH);
 		errx(1, "FATAL: no barometer found");
 
 	} else {
-		int ret = ioctl(fd, BAROIOCSMSLPRESSURE, (unsigned long)(_parameters.baro_qnh * 100));
-		if (ret) {
+		int baroret = ioctl(barofd, BAROIOCSMSLPRESSURE, (unsigned long)(_parameters.baro_qnh * 100));
+		if (baroret) {
 			warnx("qnh could not be set");
-			close(fd);
+			close(barofd);
 			return ERROR;
 		}
-		close(fd);
+		close(barofd);
 	}
 
 	return OK;