#include <sensors.h>

Inheritance diagram for rosflight_firmware::Sensors:

Classes
struct	Data

class	OutlierFilter

Public Member Functions
const Data &	data () const

void	get_filtered_IMU (turbomath::Vector &accel, turbomath::Vector &gyro, uint64_t &stamp_us)

bool	gyro_calibration_complete (void)

void	init ()

void	param_change_callback (uint16_t param_id) override

bool	run ()

	Sensors (ROSflight &rosflight)

bool	should_send_imu_data (void)

bool	start_baro_calibration (void)

bool	start_diff_pressure_calibration (void)

bool	start_gyro_calibration (void)

bool	start_imu_calibration (void)

Private Types
enum	: uint8_t { BAROMETER, GNSS, DIFF_PRESSURE, SONAR, MAGNETOMETER, BATTERY_MONITOR, NUM_LOW_PRIORITY_SENSORS }

Private Member Functions
void	calibrate_accel (void)

void	calibrate_baro (void)

void	calibrate_diff_pressure (void)

void	calibrate_gyro (void)

void	correct_baro (void)

void	correct_diff_pressure (void)

void	correct_imu (void)

void	correct_mag (void)

void	init_imu ()

void	look_for_disabled_sensors (void)

void	update_battery_monitor (void)

void	update_battery_monitor_multipliers (void)

bool	update_imu (void)

void	update_other_sensors (void)

Private Attributes
turbomath::Vector	acc_sum_ = {0, 0, 0}

float	acc_temp_sum_ = 0.0f

float	accel_ [3] = {0, 0, 0}

uint16_t	accel_calibration_count_ = 0

turbomath::Vector	accel_int_

bool	baro_calibrated_ = false

uint16_t	baro_calibration_count_ = 0

float	baro_calibration_mean_ = 0.0f

float	baro_calibration_var_ = 0.0f

OutlierFilter	baro_outlier_filt_

float	battery_current_alpha_ {0.995}

float	battery_voltage_alpha_ {0.995}

bool	calibrating_acc_flag_ = false

bool	calibrating_gyro_flag_ = false

Data	data_

OutlierFilter	diff_outlier_filt_

bool	diff_pressure_calibrated_ = false

uint16_t	diff_pressure_calibration_count_ = 0

float	diff_pressure_calibration_mean_ = 0.0f

float	diff_pressure_calibration_var_ = 0.0f

const turbomath::Vector	gravity_ = {0.0f, 0.0f, 9.80665f}

float	ground_pressure_ = 0.0f

float	gyro_ [3] = {0, 0, 0}

uint16_t	gyro_calibration_count_ = 0

turbomath::Vector	gyro_int_

turbomath::Vector	gyro_sum_ = {0, 0, 0}

bool	imu_data_sent_

uint64_t	int_start_us_

uint32_t	last_baro_cal_iter_ms_ = 0

uint32_t	last_battery_monitor_update_ms_ = 0

uint32_t	last_diff_pressure_cal_iter_ms_ = 0

uint32_t	last_imu_update_ms_ = 0

uint32_t	last_time_look_for_disarmed_sensors_ = 0

turbomath::Vector	max_ = {-1000.0f, -1000.0f, -1000.0f}

turbomath::Vector	min_ = {1000.0f, 1000.0f, 1000.0f}

bool	new_imu_data_

uint8_t	next_sensor_to_update_ = BAROMETER

uint64_t	prev_imu_read_time_us_

ROSflight &	rf_

OutlierFilter	sonar_outlier_filt_

Static Private Attributes
static const float	BARO_MAX_CALIBRATION_VARIANCE = 25.0

static const float	BARO_MAX_CHANGE_RATE = 200.0f

static const float	BARO_SAMPLE_RATE = 50.0f

static constexpr uint32_t	BATTERY_MONITOR_UPDATE_PERIOD_MS = 10

static const float	DIFF_MAX_CHANGE_RATE = 225.0f

static const float	DIFF_PRESSURE_MAX_CALIBRATION_VARIANCE = 100.0

static const float	DIFF_SAMPLE_RATE = 50.0f

static const int	SENSOR_CAL_CYCLES = 127

static const int	SENSOR_CAL_DELAY_CYCLES = 128

static const float	SONAR_MAX_CHANGE_RATE = 100.0f

static const float	SONAR_SAMPLE_RATE = 50.0f

Detailed Description

Definition at line 123 of file sensors.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum : uint8_t

private

Enumerator
BAROMETER
GNSS
DIFF_PRESSURE
SONAR
MAGNETOMETER
BATTERY_MONITOR
NUM_LOW_PRIORITY_SENSORS

Definition at line 218 of file sensors.h.

Constructor & Destructor Documentation

◆ Sensors()

rosflight_firmware::Sensors::Sensors ( ROSflight & rosflight )

Definition at line 60 of file sensors.cpp.

Member Function Documentation

◆ calibrate_accel()

void rosflight_firmware::Sensors::calibrate_accel ( void )

private

Definition at line 436 of file sensors.cpp.

◆ calibrate_baro()

void rosflight_firmware::Sensors::calibrate_baro ( void )

private

Definition at line 510 of file sensors.cpp.

◆ calibrate_diff_pressure()

void rosflight_firmware::Sensors::calibrate_diff_pressure ( void )

private

Definition at line 548 of file sensors.cpp.

◆ calibrate_gyro()

void rosflight_firmware::Sensors::calibrate_gyro ( void )

private

Definition at line 388 of file sensors.cpp.

◆ correct_baro()

void rosflight_firmware::Sensors::correct_baro ( void )

private

Definition at line 619 of file sensors.cpp.

◆ correct_diff_pressure()

void rosflight_firmware::Sensors::correct_diff_pressure ( void )

private

Definition at line 627 of file sensors.cpp.

◆ correct_imu()

void rosflight_firmware::Sensors::correct_imu ( void )

private

Definition at line 585 of file sensors.cpp.

◆ correct_mag()

void rosflight_firmware::Sensors::correct_mag ( void )

private

Definition at line 600 of file sensors.cpp.

◆ data()

const Data& rosflight_firmware::Sensors::data ( ) const

inline

Definition at line 167 of file sensors.h.

◆ get_filtered_IMU()

void rosflight_firmware::Sensors::get_filtered_IMU	(	turbomath::Vector &	accel,
		turbomath::Vector &	gyro,
		uint64_t &	stamp_us
	)

Definition at line 359 of file sensors.cpp.

◆ gyro_calibration_complete()

bool rosflight_firmware::Sensors::gyro_calibration_complete ( void )

Definition at line 293 of file sensors.cpp.

◆ init()

void rosflight_firmware::Sensors::init ( )

Definition at line 62 of file sensors.cpp.

◆ init_imu()

void rosflight_firmware::Sensors::init_imu ( )

private

Definition at line 85 of file sensors.cpp.

◆ look_for_disabled_sensors()

void rosflight_firmware::Sensors::look_for_disabled_sensors ( void )

private

Definition at line 237 of file sensors.cpp.

◆ param_change_callback()

void rosflight_firmware::Sensors::param_change_callback ( uint16_t param_id )

overridevirtual

Implements rosflight_firmware::ParamListenerInterface.

Definition at line 102 of file sensors.cpp.

◆ run()

bool rosflight_firmware::Sensors::run ( void )

Definition at line 127 of file sensors.cpp.

◆ should_send_imu_data()

bool rosflight_firmware::Sensors::should_send_imu_data ( void )

inline

Definition at line 182 of file sensors.h.

◆ start_baro_calibration()

bool rosflight_firmware::Sensors::start_baro_calibration ( void )

Definition at line 273 of file sensors.cpp.

◆ start_diff_pressure_calibration()

bool rosflight_firmware::Sensors::start_diff_pressure_calibration ( void )

Definition at line 283 of file sensors.cpp.

◆ start_gyro_calibration()

bool rosflight_firmware::Sensors::start_gyro_calibration ( void )

Definition at line 264 of file sensors.cpp.

◆ start_imu_calibration()

bool rosflight_firmware::Sensors::start_imu_calibration ( void )

Definition at line 253 of file sensors.cpp.

◆ update_battery_monitor()

void rosflight_firmware::Sensors::update_battery_monitor ( void )

private

Definition at line 370 of file sensors.cpp.

◆ update_battery_monitor_multipliers()

void rosflight_firmware::Sensors::update_battery_monitor_multipliers ( void )

private

Definition at line 669 of file sensors.cpp.

◆ update_imu()

bool rosflight_firmware::Sensors::update_imu ( void )

private

Definition at line 300 of file sensors.cpp.

◆ update_other_sensors()

void rosflight_firmware::Sensors::update_other_sensors ( void )

private

Definition at line 142 of file sensors.cpp.

Member Data Documentation

◆ acc_sum_

turbomath::Vector rosflight_firmware::Sensors::acc_sum_ = {0, 0, 0}

private

Definition at line 263 of file sensors.h.

◆ acc_temp_sum_

float rosflight_firmware::Sensors::acc_temp_sum_ = 0.0f

private

Definition at line 265 of file sensors.h.

◆ accel_

float rosflight_firmware::Sensors::accel_[3] = {0, 0, 0}

private

Definition at line 233 of file sensors.h.

◆ accel_calibration_count_

uint16_t rosflight_firmware::Sensors::accel_calibration_count_ = 0

private

Definition at line 262 of file sensors.h.

◆ accel_int_

turbomath::Vector rosflight_firmware::Sensors::accel_int_

private

Definition at line 270 of file sensors.h.

◆ baro_calibrated_

bool rosflight_firmware::Sensors::baro_calibrated_ = false

private

Definition at line 276 of file sensors.h.

◆ baro_calibration_count_

uint16_t rosflight_firmware::Sensors::baro_calibration_count_ = 0

private

Definition at line 278 of file sensors.h.

◆ baro_calibration_mean_

float rosflight_firmware::Sensors::baro_calibration_mean_ = 0.0f

private

Definition at line 280 of file sensors.h.

◆ baro_calibration_var_

float rosflight_firmware::Sensors::baro_calibration_var_ = 0.0f

private

Definition at line 281 of file sensors.h.

◆ BARO_MAX_CALIBRATION_VARIANCE

const float rosflight_firmware::Sensors::BARO_MAX_CALIBRATION_VARIANCE = 25.0

staticprivate

Definition at line 200 of file sensors.h.

◆ BARO_MAX_CHANGE_RATE

const float rosflight_firmware::Sensors::BARO_MAX_CHANGE_RATE = 200.0f

staticprivate

Definition at line 192 of file sensors.h.

◆ baro_outlier_filt_

OutlierFilter rosflight_firmware::Sensors::baro_outlier_filt_

private

Definition at line 291 of file sensors.h.

◆ BARO_SAMPLE_RATE

const float rosflight_firmware::Sensors::BARO_SAMPLE_RATE = 50.0f

staticprivate

Definition at line 193 of file sensors.h.

◆ battery_current_alpha_

float rosflight_firmware::Sensors::battery_current_alpha_ {0.995}

private

Definition at line 298 of file sensors.h.

◆ BATTERY_MONITOR_UPDATE_PERIOD_MS

constexpr uint32_t rosflight_firmware::Sensors::BATTERY_MONITOR_UPDATE_PERIOD_MS = 10

staticprivate

Definition at line 202 of file sensors.h.

◆ battery_voltage_alpha_

float rosflight_firmware::Sensors::battery_voltage_alpha_ {0.995}

private

Definition at line 297 of file sensors.h.

◆ calibrating_acc_flag_

bool rosflight_firmware::Sensors::calibrating_acc_flag_ = false

private

Definition at line 236 of file sensors.h.

◆ calibrating_gyro_flag_

bool rosflight_firmware::Sensors::calibrating_gyro_flag_ = false

private

Definition at line 237 of file sensors.h.

◆ data_

Data rosflight_firmware::Sensors::data_

private

Definition at line 231 of file sensors.h.

◆ DIFF_MAX_CHANGE_RATE

const float rosflight_firmware::Sensors::DIFF_MAX_CHANGE_RATE = 225.0f

staticprivate

Definition at line 194 of file sensors.h.

◆ diff_outlier_filt_

OutlierFilter rosflight_firmware::Sensors::diff_outlier_filt_

private

Definition at line 292 of file sensors.h.

◆ diff_pressure_calibrated_

bool rosflight_firmware::Sensors::diff_pressure_calibrated_ = false

private

Definition at line 284 of file sensors.h.

◆ diff_pressure_calibration_count_

uint16_t rosflight_firmware::Sensors::diff_pressure_calibration_count_ = 0

private

Definition at line 285 of file sensors.h.

◆ diff_pressure_calibration_mean_

float rosflight_firmware::Sensors::diff_pressure_calibration_mean_ = 0.0f

private

Definition at line 287 of file sensors.h.

◆ diff_pressure_calibration_var_

float rosflight_firmware::Sensors::diff_pressure_calibration_var_ = 0.0f

private

Definition at line 288 of file sensors.h.

◆ DIFF_PRESSURE_MAX_CALIBRATION_VARIANCE

const float rosflight_firmware::Sensors::DIFF_PRESSURE_MAX_CALIBRATION_VARIANCE = 100.0

staticprivate

Definition at line 201 of file sensors.h.

◆ DIFF_SAMPLE_RATE

const float rosflight_firmware::Sensors::DIFF_SAMPLE_RATE = 50.0f

staticprivate

Definition at line 195 of file sensors.h.

◆ gravity_

const turbomath::Vector rosflight_firmware::Sensors::gravity_ = {0.0f, 0.0f, 9.80665f}

private

Definition at line 264 of file sensors.h.

◆ ground_pressure_

float rosflight_firmware::Sensors::ground_pressure_ = 0.0f

private

Definition at line 277 of file sensors.h.

◆ gyro_

float rosflight_firmware::Sensors::gyro_[3] = {0, 0, 0}

private

Definition at line 234 of file sensors.h.

◆ gyro_calibration_count_

uint16_t rosflight_firmware::Sensors::gyro_calibration_count_ = 0

private

Definition at line 260 of file sensors.h.

◆ gyro_int_

turbomath::Vector rosflight_firmware::Sensors::gyro_int_

private

Definition at line 271 of file sensors.h.

◆ gyro_sum_

turbomath::Vector rosflight_firmware::Sensors::gyro_sum_ = {0, 0, 0}

private

Definition at line 261 of file sensors.h.

◆ imu_data_sent_

bool rosflight_firmware::Sensors::imu_data_sent_

private

Definition at line 257 of file sensors.h.

◆ int_start_us_

uint64_t rosflight_firmware::Sensors::int_start_us_

private

Definition at line 272 of file sensors.h.

◆ last_baro_cal_iter_ms_

uint32_t rosflight_firmware::Sensors::last_baro_cal_iter_ms_ = 0

private

Definition at line 279 of file sensors.h.

◆ last_battery_monitor_update_ms_

uint32_t rosflight_firmware::Sensors::last_battery_monitor_update_ms_ = 0

private

Definition at line 295 of file sensors.h.

◆ last_diff_pressure_cal_iter_ms_

uint32_t rosflight_firmware::Sensors::last_diff_pressure_cal_iter_ms_ = 0

private

Definition at line 286 of file sensors.h.

◆ last_imu_update_ms_

uint32_t rosflight_firmware::Sensors::last_imu_update_ms_ = 0

private

Definition at line 254 of file sensors.h.

◆ last_time_look_for_disarmed_sensors_

uint32_t rosflight_firmware::Sensors::last_time_look_for_disarmed_sensors_ = 0

private

Definition at line 253 of file sensors.h.

◆ max_

turbomath::Vector rosflight_firmware::Sensors::max_ = {-1000.0f, -1000.0f, -1000.0f}

private

Definition at line 266 of file sensors.h.

◆ min_

turbomath::Vector rosflight_firmware::Sensors::min_ = {1000.0f, 1000.0f, 1000.0f}

private

Definition at line 267 of file sensors.h.

◆ new_imu_data_

bool rosflight_firmware::Sensors::new_imu_data_

private

Definition at line 256 of file sensors.h.

◆ next_sensor_to_update_

uint8_t rosflight_firmware::Sensors::next_sensor_to_update_ = BAROMETER

private

Definition at line 238 of file sensors.h.

◆ prev_imu_read_time_us_

uint64_t rosflight_firmware::Sensors::prev_imu_read_time_us_

private

Definition at line 273 of file sensors.h.

◆ rf_

ROSflight& rosflight_firmware::Sensors::rf_

private

Definition at line 229 of file sensors.h.

◆ SENSOR_CAL_CYCLES

const int rosflight_firmware::Sensors::SENSOR_CAL_CYCLES = 127

staticprivate

Definition at line 199 of file sensors.h.

◆ SENSOR_CAL_DELAY_CYCLES

const int rosflight_firmware::Sensors::SENSOR_CAL_DELAY_CYCLES = 128

staticprivate

Definition at line 198 of file sensors.h.

◆ SONAR_MAX_CHANGE_RATE

const float rosflight_firmware::Sensors::SONAR_MAX_CHANGE_RATE = 100.0f

staticprivate

Definition at line 196 of file sensors.h.

◆ sonar_outlier_filt_

OutlierFilter rosflight_firmware::Sensors::sonar_outlier_filt_

private

Definition at line 293 of file sensors.h.

◆ SONAR_SAMPLE_RATE

const float rosflight_firmware::Sensors::SONAR_SAMPLE_RATE = 50.0f

staticprivate

Definition at line 197 of file sensors.h.

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

Classes

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ Sensors()

Member Function Documentation

◆ calibrate_accel()

◆ calibrate_baro()

◆ calibrate_diff_pressure()

◆ calibrate_gyro()

◆ correct_baro()

◆ correct_diff_pressure()

◆ correct_imu()

◆ correct_mag()

◆ data()

◆ get_filtered_IMU()

◆ gyro_calibration_complete()

◆ init()

◆ init_imu()

◆ look_for_disabled_sensors()

◆ param_change_callback()

◆ run()

◆ should_send_imu_data()

◆ start_baro_calibration()

◆ start_diff_pressure_calibration()

◆ start_gyro_calibration()

◆ start_imu_calibration()

◆ update_battery_monitor()

◆ update_battery_monitor_multipliers()

◆ update_imu()

◆ update_other_sensors()

Member Data Documentation

◆ acc_sum_

◆ acc_temp_sum_

◆ accel_

◆ accel_calibration_count_

◆ accel_int_

◆ baro_calibrated_

◆ baro_calibration_count_

◆ baro_calibration_mean_

◆ baro_calibration_var_

◆ BARO_MAX_CALIBRATION_VARIANCE

◆ BARO_MAX_CHANGE_RATE

◆ baro_outlier_filt_

◆ BARO_SAMPLE_RATE

◆ battery_current_alpha_

◆ BATTERY_MONITOR_UPDATE_PERIOD_MS

◆ battery_voltage_alpha_

◆ calibrating_acc_flag_

◆ calibrating_gyro_flag_

◆ data_

◆ DIFF_MAX_CHANGE_RATE

◆ diff_outlier_filt_

◆ diff_pressure_calibrated_

◆ diff_pressure_calibration_count_

◆ diff_pressure_calibration_mean_

◆ diff_pressure_calibration_var_

◆ DIFF_PRESSURE_MAX_CALIBRATION_VARIANCE

◆ DIFF_SAMPLE_RATE

◆ gravity_

◆ ground_pressure_

◆ gyro_

◆ gyro_calibration_count_

◆ gyro_int_

◆ gyro_sum_

◆ imu_data_sent_

◆ int_start_us_

◆ last_baro_cal_iter_ms_

◆ last_battery_monitor_update_ms_

◆ last_diff_pressure_cal_iter_ms_

◆ last_imu_update_ms_

◆ last_time_look_for_disarmed_sensors_

◆ max_

◆ min_