text: /****************************************************************************
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   *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
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   ****************************************************************************/
  
  #include "VehicleAngularVelocity.hpp"
  
  #include <px4_platform_common/log.h>
  
  #include <uORB/topics/vehicle_imu_status.h>
  
  using namespace matrix;
  
  namespace sensors
  {
  
  VehicleAngularVelocity::VehicleAngularVelocity() :
  	ModuleParams(nullptr),
  	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl)
  {
  	CheckAndUpdateFilters();
  }
  
  VehicleAngularVelocity::~VehicleAngularVelocity()
  {
  	Stop();
  }
  
  bool VehicleAngularVelocity::Start()
  {
  	// force initial updates
  	ParametersUpdate(true);
  
  	// sensor_selection needed to change the active sensor if the primary stops updating
  	if (!_sensor_selection_sub.registerCallback()) {
  		PX4_ERR("sensor_selection callback registration failed");
  		return false;
  	}
  
  	if (!SensorSelectionUpdate(true)) {
  		_sensor_sub.registerCallback();
  	}
  
  	return true;
  }
  
  void VehicleAngularVelocity::Stop()
  {
  	// clear all registered callbacks
  	_sensor_sub.unregisterCallback();
  	_sensor_selection_sub.unregisterCallback();
  
  	Deinit();
  }
  
  void VehicleAngularVelocity::CheckAndUpdateFilters()
  {
  	bool sample_rate_changed = false;
  
  	// get sample rate from vehicle_imu_status publication
  	for (uint8_t i = 0; i < MAX_SENSOR_COUNT; i++) {
  		uORB::SubscriptionData<vehicle_imu_status_s> imu_status{ORB_ID(vehicle_imu_status), i};
  
  		const float sample_rate_hz = imu_status.get().gyro_rate_hz;
  
  		if ((imu_status.get().gyro_device_id != 0) && (imu_status.get().gyro_device_id == _calibration.device_id())
  		    && PX4_ISFINITE(sample_rate_hz) && (sample_rate_hz > 0)) {
  			// check if sample rate error is greater than 1%
  			if ((fabsf(sample_rate_hz - _filter_sample_rate) / _filter_sample_rate) > 0.01f) {
  				PX4_DEBUG("sample rate changed: %.3f Hz -> %.3f Hz", (double)_filter_sample_rate, (double)sample_rate_hz);
  				_filter_sample_rate = sample_rate_hz;
  				sample_rate_changed = true;
  				break;
  			}
  		}
  	}
  
  	// update software low pass filters
  	if (sample_rate_changed || (fabsf(_lp_filter_velocity.get_cutoff_freq() - _param_imu_gyro_cutoff.get()) > 0.1f)) {
  		_lp_filter_velocity.set_cutoff_frequency(_filter_sample_rate, _param_imu_gyro_cutoff.get());
  		_lp_filter_velocity.reset(_angular_velocity_prev);
  	}
  
  	if (sample_rate_changed
  	    || (fabsf(_notch_filter_velocity.getNotchFreq() - _param_imu_gyro_nf_freq.get()) > 0.1f)
  	    || (fabsf(_notch_filter_velocity.getBandwidth() - _param_imu_gyro_nf_bw.get()) > 0.1f)
  	   ) {
  		_notch_filter_velocity.setParameters(_filter_sample_rate, _param_imu_gyro_nf_freq.get(), _param_imu_gyro_nf_bw.get());
  		_notch_filter_velocity.reset(_angular_velocity_prev);
  	}
  
  	if (sample_rate_changed || (fabsf(_lp_filter_acceleration.get_cutoff_freq() - _param_imu_dgyro_cutoff.get()) > 0.1f)) {
  		_lp_filter_acceleration.set_cutoff_frequency(_filter_sample_rate, _param_imu_dgyro_cutoff.get());
  		_lp_filter_acceleration.reset(_angular_acceleration_prev);
  	}
  }
  
  void VehicleAngularVelocity::SensorBiasUpdate(bool force)
  {
  	// find corresponding estimated sensor bias
  	if (_estimator_selector_status_sub.updated()) {
  		estimator_selector_status_s estimator_selector_status;
  
  		if (_estimator_selector_status_sub.copy(&estimator_selector_status)) {
  			_estimator_sensor_bias_sub.ChangeInstance(estimator_selector_status.primary_instance);
  		}
  	}
  
  	if (_estimator_sensor_bias_sub.updated() || force) {
  		estimator_sensor_bias_s bias;
  
  		if (_estimator_sensor_bias_sub.copy(&bias)) {
  			if (bias.gyro_device_id == _calibration.device_id()) {
  				_bias = Vector3f{bias.gyro_bias};
  
  			} else {
  				_bias.zero();
  			}
  		}
  	}
  }
  
  bool VehicleAngularVelocity::SensorSelectionUpdate(bool force)
  {
  	if (_sensor_selection_sub.updated() || (_calibration.device_id() == 0) || force) {
  		sensor_selection_s sensor_selection{};
  		_sensor_selection_sub.copy(&sensor_selection);
  
  		if ((sensor_selection.gyro_device_id != 0) && (_calibration.device_id() != sensor_selection.gyro_device_id)) {
  			for (uint8_t i = 0; i < MAX_SENSOR_COUNT; i++) {
  				uORB::SubscriptionData<sensor_gyro_s> sensor_gyro_sub{ORB_ID(sensor_gyro), i};
  
  				const uint32_t device_id = sensor_gyro_sub.get().device_id;
  
  				if ((device_id != 0) && (device_id == sensor_selection.gyro_device_id)) {
  
  					if (_sensor_sub.ChangeInstance(i) && _sensor_sub.registerCallback()) {
  						PX4_DEBUG("selected sensor changed %d -> %d", _calibration.device_id(), device_id);
  
  						// clear bias and corrections
  						_bias.zero();
  
  						_calibration.set_device_id(device_id);
  
  						CheckAndUpdateFilters();
  
  						return true;
  					}
  				}
  			}
  
  			PX4_ERR("unable to find or subscribe to selected sensor (%d)", sensor_selection.gyro_device_id);
  			_calibration.set_device_id(0);
  		}
  	}
  
  	return false;
  }
  
  void VehicleAngularVelocity::ParametersUpdate(bool force)
  {
  	// Check if parameters have changed
  	if (_parameter_update_sub.updated() || force) {
  		// clear update
  		parameter_update_s param_update;
  		_parameter_update_sub.copy(&param_update);
  
  		updateParams();
  
  		_calibration.ParametersUpdate();
  
  		CheckAndUpdateFilters();
  	}
  }
  
  void VehicleAngularVelocity::Run()
  {
  	// backup schedule
  	ScheduleDelayed(10_ms);
  
  	// update corrections first to set _selected_sensor
  	bool selection_updated = SensorSelectionUpdate();
  
  	_calibration.SensorCorrectionsUpdate(selection_updated);
  	SensorBiasUpdate(selection_updated);
  	ParametersUpdate();
  
  	// process all outstanding messages
  	sensor_gyro_s sensor_data;
  
  	while (_sensor_sub.update(&sensor_data)) {
  
  		// Guard against too small (< 0.2ms) and too large (> 20ms) dt's.
  		const float dt = math::constrain(((sensor_data.timestamp_sample - _timestamp_sample_prev) / 1e6f), 0.0002f, 0.02f);
  		_timestamp_sample_prev = sensor_data.timestamp_sample;
  
  		// get the sensor data and correct for thermal errors (apply offsets and scale)
  		const Vector3f val{sensor_data.x, sensor_data.y, sensor_data.z};
  
  		// correct for in-run bias errors
  		const Vector3f angular_velocity_raw = _calibration.Correct(val) - _bias;
  
  		// Gyro filtering:
  		// - Apply general notch filter (IMU_GYRO_NF_FREQ)
  		// - Apply general low-pass filter (IMU_GYRO_CUTOFF)
  		// - Differentiate & apply specific angular acceleration (D-term) low-pass (IMU_DGYRO_CUTOFF)
  
  		const Vector3f angular_velocity_notched{_notch_filter_velocity.apply(angular_velocity_raw)};
  
  		const Vector3f angular_velocity{_lp_filter_velocity.apply(angular_velocity_notched)};
  
  		const Vector3f angular_acceleration_raw = (angular_velocity - _angular_velocity_prev) / dt;
  		_angular_velocity_prev = angular_velocity;
  		_angular_acceleration_prev = angular_acceleration_raw;
  		const Vector3f angular_acceleration{_lp_filter_acceleration.apply(angular_acceleration_raw)};
  
  
  		// publish once all new samples are processed
  		if (!_sensor_sub.updated()) {
  			bool publish = true;
  
  			if (_param_imu_gyro_rate_max.get() > 0) {
  				const uint64_t interval = 1e6f / _param_imu_gyro_rate_max.get();
  
  				if (hrt_elapsed_time(&_last_publish) < interval) {
  					publish = false;
  				}
  			}
  
  			if (publish) {
  				// Publish vehicle_angular_acceleration
  				vehicle_angular_acceleration_s v_angular_acceleration;
  				v_angular_acceleration.timestamp_sample = sensor_data.timestamp_sample;
  				angular_acceleration.copyTo(v_angular_acceleration.xyz);
  				v_angular_acceleration.timestamp = hrt_absolute_time();
  				_vehicle_angular_acceleration_pub.publish(v_angular_acceleration);
  
  				// Publish vehicle_angular_velocity
  				vehicle_angular_velocity_s v_angular_velocity;
  				v_angular_velocity.timestamp_sample = sensor_data.timestamp_sample;
  				angular_velocity.copyTo(v_angular_velocity.xyz);
  				v_angular_velocity.timestamp = hrt_absolute_time();
  				_vehicle_angular_velocity_pub.publish(v_angular_velocity);
  
  				_last_publish = v_angular_velocity.timestamp_sample;
  				return;
  			}
  		}
  	}
  }
  
  void VehicleAngularVelocity::PrintStatus()
  {
  	PX4_INFO("selected sensor: %d, rate: %.1f Hz, estimated bias: [%.4f %.4f %.4f]",
  		 _calibration.device_id(), (double)_filter_sample_rate,
  		 (double)_bias(0), (double)_bias(1), (double)_bias(2));
  
  	_calibration.PrintStatus();
  }
  
  } // namespace sensors
  