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Mavlink: split ESTIMATOR_STATUS and VIBRATION streams
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@dagar
dagar authored Mar 19, 2020
1 parent 7b37f32 commit e5d30c4
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Showing 2 changed files with 161 additions and 21 deletions.
7 changes: 6 additions & 1 deletion src/modules/mavlink/mavlink_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1610,6 +1610,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("SYS_STATUS", 1.0f);
configure_stream_local("UTM_GLOBAL_POSITION", 0.5f);
configure_stream_local("VFR_HUD", 4.0f);
configure_stream_local("VIBRATION", 0.1f);
configure_stream_local("WIND_COV", 0.5f);
break;

Expand Down Expand Up @@ -1654,6 +1655,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("TRAJECTORY_REPRESENTATION_WAYPOINTS", 5.0f);
configure_stream_local("UTM_GLOBAL_POSITION", 1.0f);
configure_stream_local("VFR_HUD", 10.0f);
configure_stream_local("VIBRATION", 0.5f);
configure_stream_local("WIND_COV", 10.0f);
break;

Expand Down Expand Up @@ -1684,6 +1686,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("LOCAL_POSITION_NED", 30.0f);
configure_stream_local("NAMED_VALUE_FLOAT", 1.0f);
configure_stream_local("NAV_CONTROLLER_OUTPUT", 1.5f);
configure_stream_local("OBSTACLE_DISTANCE", 10.0f);
configure_stream_local("ODOMETRY", 30.0f);
configure_stream_local("OPTICAL_FLOW_RAD", 1.0f);
configure_stream_local("ORBIT_EXECUTION_STATUS", 5.0f);
Expand All @@ -1696,8 +1699,8 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("TRAJECTORY_REPRESENTATION_WAYPOINTS", 5.0f);
configure_stream_local("UTM_GLOBAL_POSITION", 1.0f);
configure_stream_local("VFR_HUD", 4.0f);
configure_stream_local("VIBRATION", 0.5f);
configure_stream_local("WIND_COV", 1.0f);
configure_stream_local("OBSTACLE_DISTANCE", 10.0f);
break;


Expand All @@ -1716,6 +1719,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("SYS_STATUS", 5.0f);
configure_stream_local("SYSTEM_TIME", 1.0f);
configure_stream_local("VFR_HUD", 25.0f);
configure_stream_local("VIBRATION", 0.5f);
configure_stream_local("WIND_COV", 2.0f);
break;

Expand Down Expand Up @@ -1769,6 +1773,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("TIMESYNC", 10.0f);
configure_stream_local("UTM_GLOBAL_POSITION", 1.0f);
configure_stream_local("VFR_HUD", 20.0f);
configure_stream_local("VIBRATION", 2.5f);
configure_stream_local("WIND_COV", 10.0f);
break;

Expand Down
175 changes: 155 additions & 20 deletions src/modules/mavlink/mavlink_messages.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -89,7 +89,9 @@
#include <uORB/topics/sensor_baro.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/sensor_gyro_integrated.h>
#include <uORB/topics/sensor_gyro_status.h>
#include <uORB/topics/sensor_mag.h>
#include <uORB/topics/sensor_selection.h>
#include <uORB/topics/tecs_status.h>
#include <uORB/topics/telemetry_status.h>
#include <uORB/topics/transponder_report.h>
Expand Down Expand Up @@ -2674,7 +2676,7 @@ class MavlinkStreamEstimatorStatus : public MavlinkStream

static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_VIBRATION;
return MAVLINK_MSG_ID_ESTIMATOR_STATUS;
}

uint16_t get_id() override
Expand All @@ -2689,14 +2691,11 @@ class MavlinkStreamEstimatorStatus : public MavlinkStream

unsigned get_size() override
{
return _est_sub.advertised() ? MAVLINK_MSG_ID_VIBRATION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
return _est_sub.advertised() ? MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
}

private:
uORB::Subscription _est_sub{ORB_ID(estimator_status)};
uORB::Subscription _sensor_accel_status_0_sub{ORB_ID(sensor_accel_status), 0};
uORB::Subscription _sensor_accel_status_1_sub{ORB_ID(sensor_accel_status), 1};
uORB::Subscription _sensor_accel_status_2_sub{ORB_ID(sensor_accel_status), 2};

/* do not allow top copying this class */
MavlinkStreamEstimatorStatus(MavlinkStreamEstimatorStatus &) = delete;
Expand All @@ -2711,7 +2710,6 @@ class MavlinkStreamEstimatorStatus : public MavlinkStream
estimator_status_s est;

if (_est_sub.update(&est)) {
// ESTIMATOR_STATUS
mavlink_estimator_status_t est_msg{};
est_msg.time_usec = est.timestamp;
est_msg.vel_ratio = est.vel_test_ratio;
Expand All @@ -2725,29 +2723,165 @@ class MavlinkStreamEstimatorStatus : public MavlinkStream
est_msg.flags = est.solution_status_flags;
mavlink_msg_estimator_status_send_struct(_mavlink->get_channel(), &est_msg);

// VIBRATION
return true;
}

return false;
}
};

class MavlinkStreamVibration : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamVibration::get_name_static();
}

static constexpr const char *get_name_static()
{
return "VIBRATION";
}

static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_VIBRATION;
}

uint16_t get_id() override
{
return get_id_static();
}

static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamVibration(mavlink);
}

unsigned get_size() override
{
const unsigned size = MAVLINK_MSG_ID_VIBRATION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;

if (_sensor_selection_sub.advertised()) {
return size;
}

for (auto &x : _sensor_accel_status_sub) {
if (x.advertised()) {
return size;
}
}

for (auto &x : _sensor_gyro_status_sub) {
if (x.advertised()) {
return size;
}
}

return 0;
}

private:
uORB::Subscription _sensor_selection_sub{ORB_ID(sensor_selection)};

uORB::Subscription _sensor_accel_status_sub[3] {
{ORB_ID(sensor_accel_status), 0},
{ORB_ID(sensor_accel_status), 1},
{ORB_ID(sensor_accel_status), 2},
};

uORB::Subscription _sensor_gyro_status_sub[3] {
{ORB_ID(sensor_gyro_status), 0},
{ORB_ID(sensor_gyro_status), 1},
{ORB_ID(sensor_gyro_status), 2},
};

/* do not allow top copying this class */
MavlinkStreamVibration(MavlinkStreamVibration &) = delete;
MavlinkStreamVibration &operator = (const MavlinkStreamVibration &) = delete;

protected:
explicit MavlinkStreamVibration(Mavlink *mavlink) : MavlinkStream(mavlink)
{}

bool send(const hrt_abstime t) override
{
bool updated = _sensor_selection_sub.updated();

// check for sensor_accel_status update
if (!updated) {
for (int i = 0; i < 3; i++) {
if (_sensor_accel_status_sub[i].updated() || _sensor_gyro_status_sub[i].updated()) {
updated = true;
break;
}
}
}

if (updated) {

mavlink_vibration_t msg{};
msg.time_usec = est.timestamp;
msg.vibration_x = est.vibe[0];
msg.vibration_y = est.vibe[1];
msg.vibration_z = est.vibe[2];
msg.time_usec = hrt_absolute_time();

// VIBRATION usage not to mavlink spec, this is our current usage.
// vibration_x : Primary gyro delta angle coning metric = filtered length of (delta_angle x prev_delta_angle)
// vibration_y : Primary gyro high frequency vibe = filtered length of (delta_angle - prev_delta_angle)
// vibration_z : Primary accel high frequency vibe = filtered length of (delta_velocity - prev_delta_velocity)

sensor_selection_s sensor_selection{};
_sensor_selection_sub.copy(&sensor_selection);

sensor_accel_status_s acc_status_0;
// primary gyro coning and high frequency vibration metrics
if (sensor_selection.gyro_device_id != 0) {
for (auto &x : _sensor_gyro_status_sub) {
sensor_gyro_status_s status;

if (_sensor_accel_status_0_sub.copy(&acc_status_0)) {
msg.clipping_0 = acc_status_0.clipping[0] + acc_status_0.clipping[1] + acc_status_0.clipping[2];
if (x.copy(&status)) {
if (status.device_id == sensor_selection.gyro_device_id) {
msg.vibration_x = status.coning_vibration;
msg.vibration_y = status.vibration_metric;
break;
}
}
}
}

sensor_accel_status_s acc_status_1;
// primary accel high frequency vibration metric
if (sensor_selection.accel_device_id != 0) {
for (auto &x : _sensor_accel_status_sub) {
sensor_accel_status_s status;

if (_sensor_accel_status_1_sub.copy(&acc_status_1)) {
msg.clipping_1 = acc_status_1.clipping[0] + acc_status_1.clipping[1] + acc_status_1.clipping[2];
if (x.copy(&status)) {
if (status.device_id == sensor_selection.accel_device_id) {
msg.vibration_z = status.vibration_metric;
break;
}
}
}
}

sensor_accel_status_s acc_status_2;
// accel 0, 1, 2 cumulative clipping
for (int i = 0; i < 3; i++) {
sensor_accel_status_s acc_status;

if (_sensor_accel_status_sub[i].copy(&acc_status)) {

const uint32_t clipping = acc_status.clipping[0] + acc_status.clipping[1] + acc_status.clipping[2];

switch (i) {
case 0:
msg.clipping_0 = clipping;
break;

case 1:
msg.clipping_1 = clipping;
break;

if (_sensor_accel_status_2_sub.copy(&acc_status_2)) {
msg.clipping_2 = acc_status_2.clipping[0] + acc_status_2.clipping[1] + acc_status_2.clipping[2];
case 2:
msg.clipping_2 = clipping;
break;
}
}
}

mavlink_msg_vibration_send_struct(_mavlink->get_channel(), &msg);
Expand Down Expand Up @@ -5050,6 +5184,7 @@ static const StreamListItem streams_list[] = {
create_stream_list_item<MavlinkStreamLocalPositionNED>(),
create_stream_list_item<MavlinkStreamOdometry>(),
create_stream_list_item<MavlinkStreamEstimatorStatus>(),
create_stream_list_item<MavlinkStreamVibration>(),
create_stream_list_item<MavlinkStreamAttPosMocap>(),
create_stream_list_item<MavlinkStreamHomePosition>(),
create_stream_list_item<MavlinkStreamServoOutputRaw<0> >(),
Expand Down

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