-
Notifications
You must be signed in to change notification settings - Fork 3.5k
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Rework PX4 airspeed cal due to parameter name/functionality changes (#…
…11707) Co-authored-by: Don Gagne <[email protected]>
- Loading branch information
1 parent
70daedb
commit 5e3bc45
Showing
10 changed files
with
65 additions
and
37 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
|
@@ -7,18 +7,10 @@ | |
* | ||
****************************************************************************/ | ||
|
||
|
||
/// @file | ||
/// @author Don Gagne <[email protected]> | ||
|
||
#include "SensorsComponent.h" | ||
#include "PX4AutoPilotPlugin.h" | ||
#include "SensorsComponentController.h" | ||
|
||
const char* SensorsComponent::_airspeedBreakerParam = "CBRK_AIRSPD_CHK"; | ||
const char* SensorsComponent::_airspeedDisabledParam = "FW_ARSP_MODE"; | ||
const char* SensorsComponent::_airspeedCalParam = "SENS_DPRES_OFF"; | ||
|
||
const char* SensorsComponent::_magEnabledParam = "SYS_HAS_MAG"; | ||
const char* SensorsComponent::_magCalParam = "CAL_MAG0_ID"; | ||
|
||
|
@@ -27,6 +19,15 @@ SensorsComponent::SensorsComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, | |
_name(tr("Sensors")) | ||
{ | ||
_deviceIds = QStringList({QStringLiteral("CAL_GYRO0_ID"), QStringLiteral("CAL_ACC0_ID") }); | ||
|
||
if (_vehicle->fixedWing() || _vehicle->vtol() || _vehicle->airship()) { | ||
_airspeedCalTriggerParams << "SENS_DPRES_OFF"; | ||
if (_vehicle->firmwareMajorVersion() >= 1 && _vehicle->firmwareMinorVersion() >= 14) { | ||
_airspeedCalTriggerParams << "SYS_HAS_NUM_ASPD"; | ||
} else { | ||
_airspeedCalTriggerParams << "FW_ARSP_MODE" << "CBRK_AIRSPD_CHK"; | ||
} | ||
} | ||
} | ||
|
||
QString SensorsComponent::name(void) const | ||
|
@@ -66,10 +67,17 @@ bool SensorsComponent::setupComplete(void) const | |
} | ||
|
||
if (_vehicle->fixedWing() || _vehicle->vtol() || _vehicle->airship()) { | ||
if (!_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, _airspeedDisabledParam)->rawValue().toBool() && | ||
_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, _airspeedBreakerParam)->rawValue().toInt() != 162128 && | ||
_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, _airspeedCalParam)->rawValue().toFloat() == 0.0f) { | ||
return false; | ||
if (_vehicle->firmwareMajorVersion() >= 1 && _vehicle->firmwareMinorVersion() >= 14) { | ||
if (_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, "SYS_HAS_NUM_ASPD")->rawValue().toBool() && | ||
_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, "SENS_DPRES_OFF")->rawValue().toFloat() == 0.0f) { | ||
return false; | ||
} | ||
} else { | ||
if (!_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, "FW_ARSP_MODE")->rawValue().toBool() && | ||
_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, "CBRK_AIRSPD_CHK")->rawValue().toInt() != 162128 && | ||
_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, "SENS_DPRES_OFF")->rawValue().toFloat() == 0.0f) { | ||
return false; | ||
} | ||
} | ||
} | ||
|
||
|
@@ -82,7 +90,7 @@ QStringList SensorsComponent::setupCompleteChangedTriggerList(void) const | |
|
||
triggers << _deviceIds << _magCalParam << _magEnabledParam; | ||
if (_vehicle->fixedWing() || _vehicle->vtol() || _vehicle->airship()) { | ||
triggers << _airspeedCalParam << _airspeedBreakerParam; | ||
triggers << _airspeedCalTriggerParams; | ||
} | ||
|
||
return triggers; | ||
|
@@ -105,3 +113,26 @@ QUrl SensorsComponent::summaryQmlSource(void) const | |
|
||
return QUrl::fromUserInput(summaryQml); | ||
} | ||
|
||
bool SensorsComponent::_airspeedCalSupported(void) const | ||
{ | ||
if (_vehicle->fixedWing() || _vehicle->vtol() || _vehicle->airship()) { | ||
if (_vehicle->firmwareMajorVersion() >= 1 && _vehicle->firmwareMinorVersion() >= 14) { | ||
if (_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, "SYS_HAS_NUM_ASPD")->rawValue().toBool()) { | ||
return true; | ||
} | ||
} else { | ||
if (!_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, "FW_ARSP_MODE")->rawValue().toBool() && | ||
_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, "CBRK_AIRSPD_CHK")->rawValue().toInt() != 162128) { | ||
return true; | ||
} | ||
} | ||
} | ||
|
||
return false; | ||
} | ||
|
||
bool SensorsComponent::_airspeedCalRequired(void) const | ||
{ | ||
return _airspeedCalSupported() && _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, "SENS_DPRES_OFF")->rawValue().toFloat() == 0.0f; | ||
} |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters