sensors: create vehicle_angular_velocity module #12596

dagar · 2019-08-01T14:21:16Z

This is a new part of the sensors module that creates the system wide angular velocity message needed by the rate controllers and several other modules. Because this message is needed at a relatively high rate (250 Hz now, >= 1 kHz shortly) with absolute minimum latency it runs out of the WQ rate_ctrl.

vehicle_angular_velocity

uint64 timestamp		# time since system start (microseconds)
uint64 timestamp_sample		# the timestamp of the raw data (microseconds)
float32[3] xyz			# Bias corrected angular velocity about X, Y, Z body axis in rad/s

broken out of [WIP]: mc_att_control split out rate controller and sensor aggregation into new modules #12225

dagar · 2019-08-01T14:23:23Z

Fixes #12451 (hopefully).

dagar · 2019-08-01T14:26:33Z

The rollspeed, pitchspeed, and yawspeed in the vehicle_attitude message (now removed) are from raw IMU data integrated down to 250 Hz. For the majority of consumers it's clear what they actually want is the low pass filtered rate data (now in vehicle_angular_velocity), but there may be exceptions.

jlecoeur · 2019-08-01T15:08:58Z

The CI failure is related to RTPS:

AssertionError: 

The following message is not listen under  /tmp/jenkins/workspace/4_misc_Firmware-compile_PR-12596/msg/tools/uorb_rtps_message_ids.yaml: vehicle_angular_velocity
Please add them to the yaml file with the respective ID and, if applicable, mark themto be sent or received by the micro-RTPS bridge.
NOTE: If the message has multi-topics (#TOPICS), these should be added as well.

dagar · 2019-08-01T15:45:28Z

Thanks @jlecoeur, should be fixed now.

jlecoeur

Much needed cleanup!

I have made some suggestions and asked a few questions.

msg/rate_ctrl_status.msg

msg/vehicle_attitude.msg

src/examples/position_estimator_inav/position_estimator_inav_main.cpp

msg/vehicle_angular_velocity.msg

src/modules/land_detector/MulticopterLandDetector.h

src/modules/mc_att_control/mc_att_control_main.cpp

src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp

src/modules/sih/sih.cpp

src/modules/simulator/simulator_mavlink.cpp

dagar · 2019-08-01T18:08:57Z

Thanks for the quick review @jlecoeur.

msg/vehicle_angular_velocity.msg

jorge789 · 2019-08-02T18:52:57Z

Tested on Pixhawk 2 Cube V3:

Modes Tested

Position Mode: Good.
Altitude Mode: Good.
Stabilized Mode: Good.
Mission Plan Mode (Automated): Good.
RTL: Good.

- Procedure
Arm and Take off in position mode, after flying for approximately one minute, switched to altitude then stabilized mode proceed to switch to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC, once completed all waypoin activate RTL and see landing behaviour.

Notes:
No issues noted, good flight in general.

Log:
https://review.px4.io/plot_app?log=7016078b-38d7-4d9b-9e3d-c3041354b093

Tested on PixRacer V4:
Modes Tested

Position Mode: Good.
Altitude Mode: Good.
Stabilized Mode: Good.
Mission Plan Mode (Automated): Good.
RTL: Good.

- Procedure
Arm and Take off in position mode, after flying for approximately one minute, switched to altitude then stabilized mode proceed to switch to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC, once completed all waypoin activate RTL and see landing behaviour.

Notes:
No issues noted, good flight in general.

Log:
https://review.px4.io/plot_app?log=95bb9558-b81b-41a4-972b-7696b9aab454

https://review.px4.io/plot_app?log=0fbcb9c3-9bfd-4b23-8b91-1f07a10626ed

Tested on CUAV V5+
Modes Tested

Position Mode: Good.
Altitude Mode: Good.
Stabilized Mode: Good.
Mission Plan Mode (Automated): Good.
RTL: Good.

- Procedure
Arm and Take off in position mode, after flying for approximately one minute, switched to altitude then stabilized mode proceed to switch to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC, once completed all waypoin activate RTL and see landing behaviour.

Notes:
No issues noted, good flight in general.

Log:
https://review.px4.io/plot_app?log=7e8641dc-4910-4ed8-8480-a9d460d8d366

https://review.px4.io/plot_app?log=5006f107-db4d-469f-832d-01fa0f99e04a

- mc_att_control split out sensor_gyro aggregation and move to wq:rate_ctrl

dagar · 2019-08-02T21:49:58Z

Conflict with position_estimator_inav (deleted) fixed manually, then squashed and rebased on master.

dannyfpv · 2019-08-02T21:53:57Z

Modes Tested

Position Mode: no issue
Altitude Mode: no issue
Stabilized Mode: no issue
Mission Plan Mode : no issue
RTL: no issue

Procedure
Arm and Take off in position mode, after flying for approximately one minute, switched to altitude then stabilized mode proceed to switch to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC, once completed all waypoin activate RTL and see landing behaviour.

Notes:
No issues noted, good flight in general.

pr log pixhawk 4 v5 f-450:
https://review.px4.io/plot_app?log=070e2fbe-f0e5-41a1-a0ef-c9eb7d37acb8

pr log pixhawk 4 mini v5 f-450:
https://review.px4.io/plot_app?log=dfdd5c08-8b65-4817-b528-6a425816b2e8

pr log pixhawk pro v4 f-450
https://review.px4.io/plot_app?log=89bbc48a-df07-4437-a8fc-d20ccb11b45a

bkueng

I can see the reasoning, but I find it weird to run this from sensors:

it does not interact with that module, or share anything
and it even runs on a different process

bkueng · 2019-08-07T08:12:00Z

src/modules/logger/logger.cpp

@@ -610,15 +610,16 @@ void Logger::add_default_topics()
 	add_topic("optical_flow", 50);
 	add_topic("position_setpoint_triplet", 200);
 	//add_topic("radio_status");
-	add_topic("rate_ctrl_status", 30);
+	add_topic("rate_ctrl_status", 200);


Can you add this with 30ms to add_high_rate_topics?

bkueng · 2019-08-08T07:33:34Z

src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp

+		if (_selected_gyro != corrections.selected_gyro_instance) {
+			if (corrections.selected_gyro_instance < MAX_GYRO_COUNT) {
+				// clear all registered callbacks
+				for (auto sub : _sensor_gyro_sub) {


for (auto& sub : _sensor_gyro_sub) {

Ouch, fixed. #12662

Thanks @bkueng

dagar · 2019-08-08T13:37:05Z

I can see the reasoning, but I find it weird to run this from sensors:

it does not interact with that module, or share anything

and it even runs on a different process

Yes I agree it's a bit unusual and I originally had it as a standalone module (#12225). At the moment there's no scenario where you don't require both, so it started to feel like more of a liability. It's also going to get worse as more of these aggregators are added (vehicle_acceleration #12597 also now in master).

dagar · 2019-08-08T14:12:02Z

Can you add this with 30ms to add_high_rate_topics?

@bkueng rate_ctrl_status is already in add_high_rate_topics full rate. Do you want to limit it?

bkueng · 2019-08-09T05:33:17Z

@bkueng rate_ctrl_status is already in add_high_rate_topics full rate. Do you want to limit it?

Sorry I missed that. It's fine then.

Firmware PR: PX4/PX4-Autopilot#12596

* split out filtered sensor_gyro aggregation from mc_att_control and move to wq:rate_ctrl

jinwoolee6906 · 2021-07-26T09:54:31Z

I want to know the units of rollspeed, pitchspeed, and yawspeed inside the [rate_ctrl_status.msg] file. The results from the px4 review site are different from those from the matlab.

bresch · 2021-07-26T10:02:48Z

@jinwoolee6906 All the angles are in radians and all the angular rates are in rad/s.

dagar added Admin: Enhancement (improvement) 💡 Admin: Cleanup (housekeeping) 🧹 labels Aug 1, 2019

dagar added this to the Release v1.10.0 milestone Aug 1, 2019

dagar requested review from jlecoeur, MaEtUgR and CarlOlsson August 1, 2019 14:21

dagar force-pushed the pr-vehicle_angular_velocity branch 3 times, most recently from 36152e2 to 95a19e4 Compare August 1, 2019 14:37

dagar requested a review from bkueng August 1, 2019 14:38

dagar added the Multirotor 🛸 label Aug 1, 2019

dagar mentioned this pull request Aug 1, 2019

sensors: create vehicle_accelerometer module #12597

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dagar force-pushed the pr-vehicle_angular_velocity branch from 95a19e4 to ee402b4 Compare August 1, 2019 15:45

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dagar force-pushed the pr-vehicle_angular_velocity branch from 5500b13 to 2580008 Compare August 1, 2019 17:31

dagar mentioned this pull request Aug 1, 2019

support vehicle_angular_velocity PX4/flight_review#168

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dagar requested a review from jlecoeur August 1, 2019 18:09

dagar commented Aug 1, 2019

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dagar force-pushed the pr-vehicle_angular_velocity branch from 00a2bbc to c2d0def Compare August 1, 2019 18:11

dagar requested a review from a team August 1, 2019 20:08

jlecoeur previously approved these changes Aug 2, 2019

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dagar dismissed jlecoeur’s stale review via a9b4522 August 2, 2019 21:46

sensors: create vehicle_angular_velocity module

4b43c1c

- mc_att_control split out sensor_gyro aggregation and move to wq:rate_ctrl

dagar force-pushed the pr-vehicle_angular_velocity branch from a9b4522 to 4b43c1c Compare August 2, 2019 21:50

jlecoeur self-requested a review August 3, 2019 07:07

jlecoeur approved these changes Aug 3, 2019

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MaEtUgR approved these changes Aug 5, 2019

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dagar merged commit 2ad12d7 into PX4:master Aug 6, 2019

dagar deleted the pr-vehicle_angular_velocity branch August 6, 2019 16:55

bkueng reviewed Aug 7, 2019

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bkueng reviewed Aug 8, 2019

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weekly-digest bot mentioned this pull request Aug 11, 2019

Weekly Digest (4 August, 2019 - 11 August, 2019) #12682

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dagar mentioned this pull request Aug 14, 2019

Remove Euler angle rate names #12451

Closed

bkueng pushed a commit to PX4/flight_review that referenced this pull request Aug 16, 2019

plots: support vehicle_angular_velocity

a2ed1af

Firmware PR: PX4/PX4-Autopilot#12596

bozkurthan pushed a commit to bozkurthan/Firmware that referenced this pull request Sep 4, 2019

sensors: create vehicle_angular_velocity module (PX4#12596)

76972b0

* split out filtered sensor_gyro aggregation from mc_att_control and move to wq:rate_ctrl

mrivi mentioned this pull request Oct 14, 2019

Attitude Quaternion Stream with invalid quaternion #13182

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sensors: create vehicle_angular_velocity module #12596

sensors: create vehicle_angular_velocity module #12596

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sensors: create vehicle_angular_velocity module #12596

sensors: create vehicle_angular_velocity module #12596

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Tested on Pixhawk 2 Cube V3:

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