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sensors move to matrix lib #9129

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Mar 22, 2018
Merged

sensors move to matrix lib #9129

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6 changes: 3 additions & 3 deletions src/modules/sensors/temperature_compensation.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -377,8 +377,8 @@ int TemperatureCompensation::set_sensor_id(uint32_t device_id, int topic_instanc
return -1;
}

int TemperatureCompensation::apply_corrections_gyro(int topic_instance, math::Vector<3> &sensor_data, float temperature,
float *offsets, float *scales)
int TemperatureCompensation::apply_corrections_gyro(int topic_instance, matrix::Vector3f &sensor_data,
float temperature, float *offsets, float *scales)
{
if (_parameters.gyro_tc_enable != 1) {
return 0;
Expand Down Expand Up @@ -406,7 +406,7 @@ int TemperatureCompensation::apply_corrections_gyro(int topic_instance, math::Ve
return 1;
}

int TemperatureCompensation::apply_corrections_accel(int topic_instance, math::Vector<3> &sensor_data,
int TemperatureCompensation::apply_corrections_accel(int topic_instance, matrix::Vector3f &sensor_data,
float temperature, float *offsets, float *scales)
{
if (_parameters.accel_tc_enable != 1) {
Expand Down
11 changes: 5 additions & 6 deletions src/modules/sensors/temperature_compensation.h
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Original file line number Diff line number Diff line change
Expand Up @@ -89,14 +89,13 @@ class TemperatureCompensation
* 1: corrections applied but no changes to offsets & scales,
* 2: corrections applied and offsets & scales updated
*/
int apply_corrections_gyro(int topic_instance, math::Vector<3> &sensor_data, float temperature,
float *offsets, float *scales);
int apply_corrections_gyro(int topic_instance, matrix::Vector3f &sensor_data, float temperature, float *offsets,
float *scales);

int apply_corrections_accel(int topic_instance, math::Vector<3> &sensor_data, float temperature,
float *offsets, float *scales);
int apply_corrections_accel(int topic_instance, matrix::Vector3f &sensor_data, float temperature, float *offsets,
float *scales);

int apply_corrections_baro(int topic_instance, float &sensor_data, float temperature,
float *offsets, float *scales);
int apply_corrections_baro(int topic_instance, float &sensor_data, float temperature, float *offsets, float *scales);

/** output current configuration status to console */
void print_status();
Expand Down
41 changes: 20 additions & 21 deletions src/modules/sensors/voted_sensors_update.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -134,14 +134,13 @@ void VotedSensorsUpdate::deinit()

void VotedSensorsUpdate::parameters_update()
{
get_rot_matrix((enum Rotation)_parameters.board_rotation, &_board_rotation);
/* fine tune board offset */
math::Matrix<3, 3> board_rotation_offset;
board_rotation_offset.from_euler(M_DEG_TO_RAD_F * _parameters.board_offset[0],
M_DEG_TO_RAD_F * _parameters.board_offset[1],
M_DEG_TO_RAD_F * _parameters.board_offset[2]);
matrix::Dcmf board_rotation_offset = matrix::Eulerf(
M_DEG_TO_RAD_F * _parameters.board_offset[0],
M_DEG_TO_RAD_F * _parameters.board_offset[1],
M_DEG_TO_RAD_F * _parameters.board_offset[2]);

_board_rotation = board_rotation_offset * _board_rotation;
_board_rotation = board_rotation_offset * get_rot_matrix((enum Rotation)_parameters.board_rotation);

// initialze all mag rotations with the board rotation in case there is no calibration data available
for (int topic_instance = 0; topic_instance < MAG_COUNT_MAX; ++topic_instance) {
Expand Down Expand Up @@ -513,7 +512,7 @@ void VotedSensorsUpdate::parameters_update()
/* now get the mag rotation */
if (mag_rot >= 0) {
// Set external magnetometers to use the parameter value
get_rot_matrix((enum Rotation)mag_rot, &_mag_rotation[topic_instance]);
_mag_rotation[topic_instance] = get_rot_matrix((enum Rotation)mag_rot);

} else {
// Set internal magnetometers to use the board rotation
Expand Down Expand Up @@ -567,7 +566,7 @@ void VotedSensorsUpdate::accel_poll(struct sensor_combined_s &raw)

_accel_device_id[uorb_index] = accel_report.device_id;

math::Vector<3> accel_data;
matrix::Vector3f accel_data;

if (accel_report.integral_dt != 0) {
/*
Expand All @@ -579,8 +578,9 @@ void VotedSensorsUpdate::accel_poll(struct sensor_combined_s &raw)

// convert the delta velocities to an equivalent acceleration before application of corrections
float dt_inv = 1.e6f / accel_report.integral_dt;
accel_data = math::Vector<3>(accel_report.x_integral * dt_inv, accel_report.y_integral * dt_inv,
accel_report.z_integral * dt_inv);
accel_data = matrix::Vector3f(accel_report.x_integral * dt_inv,
accel_report.y_integral * dt_inv,
accel_report.z_integral * dt_inv);

_last_sensor_data[uorb_index].accelerometer_integral_dt = accel_report.integral_dt;

Expand All @@ -589,7 +589,7 @@ void VotedSensorsUpdate::accel_poll(struct sensor_combined_s &raw)

// Correct each sensor for temperature effects
// Filtering and/or downsampling of temperature should be performed in the driver layer
accel_data = math::Vector<3>(accel_report.x, accel_report.y, accel_report.z);
accel_data = matrix::Vector3f(accel_report.x, accel_report.y, accel_report.z);

// handle the cse where this is our first output
if (_last_accel_timestamp[uorb_index] == 0) {
Expand Down Expand Up @@ -674,7 +674,7 @@ void VotedSensorsUpdate::gyro_poll(struct sensor_combined_s &raw)

_gyro_device_id[uorb_index] = gyro_report.device_id;

math::Vector<3> gyro_rate;
matrix::Vector3f gyro_rate;

if (gyro_report.integral_dt != 0) {
/*
Expand All @@ -686,8 +686,9 @@ void VotedSensorsUpdate::gyro_poll(struct sensor_combined_s &raw)

// convert the delta angles to an equivalent angular rate before application of corrections
float dt_inv = 1.e6f / gyro_report.integral_dt;
gyro_rate = math::Vector<3>(gyro_report.x_integral * dt_inv, gyro_report.y_integral * dt_inv,
gyro_report.z_integral * dt_inv);
gyro_rate = matrix::Vector3f(gyro_report.x_integral * dt_inv,
gyro_report.y_integral * dt_inv,
gyro_report.z_integral * dt_inv);

_last_sensor_data[uorb_index].gyro_integral_dt = gyro_report.integral_dt;

Expand All @@ -696,7 +697,7 @@ void VotedSensorsUpdate::gyro_poll(struct sensor_combined_s &raw)

// Correct each sensor for temperature effects
// Filtering and/or downsampling of temperature should be performed in the driver layer
gyro_rate = math::Vector<3>(gyro_report.x, gyro_report.y, gyro_report.z);
gyro_rate = matrix::Vector3f(gyro_report.x, gyro_report.y, gyro_report.z);

// handle the case where this is our first output
if (_last_sensor_data[uorb_index].timestamp == 0) {
Expand Down Expand Up @@ -782,16 +783,15 @@ void VotedSensorsUpdate::mag_poll(struct sensor_combined_s &raw)
_mag.priority[uorb_index] = (uint8_t)priority;
}

math::Vector<3> vect(mag_report.x, mag_report.y, mag_report.z);
matrix::Vector3f vect(mag_report.x, mag_report.y, mag_report.z);
vect = _mag_rotation[uorb_index] * vect;

_last_sensor_data[uorb_index].magnetometer_ga[0] = vect(0);
_last_sensor_data[uorb_index].magnetometer_ga[1] = vect(1);
_last_sensor_data[uorb_index].magnetometer_ga[2] = vect(2);

_last_mag_timestamp[uorb_index] = mag_report.timestamp;
_mag.voter.put(uorb_index, mag_report.timestamp, vect.data,
mag_report.error_count, _mag.priority[uorb_index]);
_mag.voter.put(uorb_index, mag_report.timestamp, vect.data(), mag_report.error_count, _mag.priority[uorb_index]);
}
}

Expand Down Expand Up @@ -851,15 +851,14 @@ void VotedSensorsUpdate::baro_poll(struct sensor_combined_s &raw)
_baro_device_id[uorb_index] = baro_report.device_id;

got_update = true;
math::Vector<3> vect(baro_report.altitude, 0.f, 0.f);
matrix::Vector3f vect(baro_report.altitude, 0.f, 0.f);

_last_sensor_data[uorb_index].baro_alt_meter = baro_report.altitude;
_last_sensor_data[uorb_index].baro_temp_celcius = baro_report.temperature;
_last_baro_pressure[uorb_index] = corrected_pressure;

_last_baro_timestamp[uorb_index] = baro_report.timestamp;
_baro.voter.put(uorb_index, baro_report.timestamp, vect.data,
baro_report.error_count, _baro.priority[uorb_index]);
_baro.voter.put(uorb_index, baro_report.timestamp, vect.data(), baro_report.error_count, _baro.priority[uorb_index]);
}
}

Expand Down
4 changes: 2 additions & 2 deletions src/modules/sensors/voted_sensors_update.h
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Original file line number Diff line number Diff line change
Expand Up @@ -253,8 +253,8 @@ class VotedSensorsUpdate
uint64_t _last_mag_timestamp[MAG_COUNT_MAX]; /**< latest full timestamp */
uint64_t _last_baro_timestamp[BARO_COUNT_MAX]; /**< latest full timestamp */

math::Matrix<3, 3> _board_rotation = {}; /**< rotation matrix for the orientation that the board is mounted */
math::Matrix<3, 3> _mag_rotation[MAG_COUNT_MAX] = {}; /**< rotation matrix for the orientation that the external mag0 is mounted */
matrix::Dcmf _board_rotation; /**< rotation matrix for the orientation that the board is mounted */
matrix::Dcmf _mag_rotation[MAG_COUNT_MAX]; /**< rotation matrix for the orientation that the external mag0 is mounted */

const Parameters &_parameters;
const bool _hil_enabled; /**< is hardware-in-the-loop mode enabled? */
Expand Down