C++ AP_InertialSensor类代码示例

bool AP_Arming::ins_gyros_consistent(const AP_InertialSensor &ins)
{
    const uint8_t gyro_count = ins.get_gyro_count();
    if (gyro_count <= 1) {
        return true;
    }

    const Vector3f &prime_gyro_vec = ins.get_gyro();
    const uint32_t now = AP_HAL::millis();
    for(uint8_t i=0; i<gyro_count; i++) {
        if (!ins.use_gyro(i)) {
            continue;
        }
        // get next gyro vector
        const Vector3f &gyro_vec = ins.get_gyro(i);
        Vector3f vec_diff = gyro_vec - prime_gyro_vec;
        // allow for up to 5 degrees/s difference. Pass if it has
        // been OK in last 10 seconds
        if (vec_diff.length() <= radians(5)) {
            last_gyro_pass_ms[i] = now;
        }
        if (now - last_gyro_pass_ms[i] > 10000) {
            return false;
        }
    }

    return true;
}

void GCS_MAVLINK::send_sensor_offsets(const AP_InertialSensor &ins, const Compass &compass, AP_Baro &barometer)
{
    // run this message at a much lower rate - otherwise it
    // pointlessly wastes quite a lot of bandwidth
    static uint8_t counter;
    if (counter++ < 10) {
        return;
    }
    counter = 0;

    const Vector3f &mag_offsets = compass.get_offsets(0);
    const Vector3f &accel_offsets = ins.get_accel_offsets(0);
    const Vector3f &gyro_offsets = ins.get_gyro_offsets(0);

    mavlink_msg_sensor_offsets_send(chan,
                                    mag_offsets.x,
                                    mag_offsets.y,
                                    mag_offsets.z,
                                    compass.get_declination(),
                                    barometer.get_pressure(),
                                    barometer.get_temperature()*100,
                                    gyro_offsets.x,
                                    gyro_offsets.y,
                                    gyro_offsets.z,
                                    accel_offsets.x,
                                    accel_offsets.y,
                                    accel_offsets.z);
}

/*
  send LOCAL_POSITION_NED message
 */
void GCS_MAVLINK::send_vibration(const AP_InertialSensor &ins) const
{
    Vector3f vibration = ins.get_vibration_levels();

    mavlink_msg_vibration_send(
        chan,
        AP_HAL::micros64(),
        vibration.x,
        vibration.y,
        vibration.z,
        ins.get_accel_clip_count(0),
        ins.get_accel_clip_count(1),
        ins.get_accel_clip_count(2));
}

/*
  send LOCAL_POSITION_NED message
 */
void GCS_MAVLINK::send_vibration(const AP_InertialSensor &ins) const
{
#if INS_VIBRATION_CHECK
    Vector3f vibration = ins.get_vibration_levels();

    mavlink_msg_vibration_send(
        chan,
        hal.scheduler->micros64(),
        vibration.x,
        vibration.y,
        vibration.z,
        ins.get_accel_clip_count(0),
        ins.get_accel_clip_count(1),
        ins.get_accel_clip_count(2));
#endif
}

void SchedTest::setup(void)
{
    // we 
    ins.init(AP_InertialSensor::COLD_START, 
			 AP_InertialSensor::RATE_50HZ);

    // initialise the scheduler
    scheduler.init(&scheduler_tasks[0], ARRAY_SIZE(scheduler_tasks));
}

/* MPU6000 implementation of the HMC5843 */
AP_HMC5843_SerialBus_MPU6000::AP_HMC5843_SerialBus_MPU6000(AP_InertialSensor &ins,
                                                           uint8_t addr)
{
    // Only initialize members. Fails are handled by configure or while
    // getting the semaphore
    _bus = ins.get_auxiliar_bus(HAL_INS_MPU60XX_SPI);
    if (!_bus)
        return;
    _slave = _bus->request_next_slave(addr);
}

void setup(void)
{
    // setup any board specific drivers
    BoardConfig.init();

    hal.console->printf("AP_InertialSensor startup...\n");

    ins.init(100);

    // display initial values
    display_offsets_and_scaling();

    // display number of detected accels/gyros
    hal.console->printf("\n");
    hal.console->printf("Number of detected accels : %u\n", ins.get_accel_count());
    hal.console->printf("Number of detected gyros  : %u\n\n", ins.get_gyro_count());

    hal.console->printf("Complete. Reading:\n");
}

static void run_calibration()
{
    float roll_trim, pitch_trim;
    // clear off any other characters (like line feeds,etc)
    while( hal.console->available() ) {
        hal.console->read();
    }


    AP_InertialSensor_UserInteractStream interact(hal.console);
    ins.calibrate_accel(&interact, roll_trim, pitch_trim);
}

bool AP_Arming::ins_accels_consistent(const AP_InertialSensor &ins)
{
    const uint8_t accel_count = ins.get_accel_count();
    if (accel_count <= 1) {
        return true;
    }

    const Vector3f &prime_accel_vec = ins.get_accel();
    const uint32_t now = AP_HAL::millis();
    for(uint8_t i=0; i<accel_count; i++) {
        if (!ins.use_accel(i)) {
            continue;
        }
        // get next accel vector
        const Vector3f &accel_vec = ins.get_accel(i);
        Vector3f vec_diff = accel_vec - prime_accel_vec;
        // allow for user-defined difference, typically 0.75 m/s/s. Has to pass in last 10 seconds
        float threshold = accel_error_threshold;
        if (i >= 2) {
            /*
              we allow for a higher threshold for IMU3 as it
              runs at a different temperature to IMU1/IMU2,
              and is not used for accel data in the EKF
            */
            threshold *= 3;
        }

        // EKF is less sensitive to Z-axis error
        vec_diff.z *= 0.5f;

        if (vec_diff.length() <= threshold) {
            last_accel_pass_ms[i] = now;
        }
        if (now - last_accel_pass_ms[i] > 10000) {
            return false;
        }
    }

    return true;
}

/* HMC5843 on an auxiliary bus of IMU driver */
AP_HMC5843_BusDriver_Auxiliary::AP_HMC5843_BusDriver_Auxiliary(AP_InertialSensor &ins, uint8_t backend_id,
                                                               uint8_t addr)
{
    /*
     * Only initialize members. Fails are handled by configure or while
     * getting the semaphore
     */
    _bus = ins.get_auxiliary_bus(backend_id);
    if (!_bus) {
        return;
    }

    _slave = _bus->request_next_slave(addr);
}

void setup(void)
{
    hal.console->println("AP_InertialSensor startup...");

#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_MEGA2560
    // we need to stop the barometer from holding the SPI bus
    hal.gpio->pinMode(40, HAL_GPIO_OUTPUT);
    hal.gpio->write(40, 1);
#endif

    ins.init(AP_InertialSensor::COLD_START, 
			 AP_InertialSensor::RATE_100HZ);

    // display initial values
    display_offsets_and_scaling();
    hal.console->println("Complete. Reading:");
}

void setup(void)
{

#ifdef APM2_HARDWARE
    // we need to stop the barometer from holding the SPI bus
    hal.gpio->pinMode(40, HAL_HAL_GPIO_OUTPUT);
    hal.gpio->write(40, HIGH);
#endif

    ins.init(AP_InertialSensor::RATE_100HZ);
    ahrs.init();
    serial_manager.init();

    if( compass.init() ) {
        hal.console->printf("Enabling compass\n");
        ahrs.set_compass(&compass);
    } else {
        hal.console->printf("No compass detected\n");
    }
    gps.init(NULL, serial_manager);
}

void ReplayVehicle::setup(void) 
{
    load_parameters();
    
    // we pass zero log structures, as we will be outputting the log
    // structures we need manually, to prevent FMT duplicates
    dataflash.Init(log_structure, 0);
    dataflash.StartNewLog();

    ahrs.set_compass(&compass);
    ahrs.set_fly_forward(true);
    ahrs.set_wind_estimation(true);
    ahrs.set_correct_centrifugal(true);
    ahrs.set_ekf_use(true);

    EKF2.set_enable(true);
                        
    printf("Starting disarmed\n");
    hal.util->set_soft_armed(false);

    barometer.init();
    barometer.setHIL(0);
    barometer.update();
    compass.init();
    ins.set_hil_mode();
}

void setup(void)
{
    serial_manager.init();
    ins.init(100);
    baro.init();
    ahrs.init();

    gps.init(NULL, serial_manager);
}

static void display_offsets_and_scaling()
{
    const Vector3f &accel_offsets = ins.get_accel_offsets();
    const Vector3f &accel_scale = ins.get_accel_scale();
    const Vector3f &gyro_offsets = ins.get_gyro_offsets();

    // display results
    hal.console->printf("\nAccel Offsets X:%10.8f \t Y:%10.8f \t Z:%10.8f\n",
                        (double)accel_offsets.x,
                        (double)accel_offsets.y,
                        (double)accel_offsets.z);
    hal.console->printf("Accel Scale X:%10.8f \t Y:%10.8f \t Z:%10.8f\n",
                        (double)accel_scale.x,
                        (double)accel_scale.y,
                        (double)accel_scale.z);
    hal.console->printf("Gyro Offsets X:%10.8f \t Y:%10.8f \t Z:%10.8f\n",
                        (double)gyro_offsets.x,
                        (double)gyro_offsets.y,
                        (double)gyro_offsets.z);
}