text: /****************************************************************************
   *
   *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions
   * are met:
   *
   * 1. Redistributions of source code must retain the above copyright
   *    notice, this list of conditions and the following disclaimer.
   * 2. Redistributions in binary form must reproduce the above copyright
   *    notice, this list of conditions and the following disclaimer in
   *    the documentation and/or other materials provided with the
   *    distribution.
   * 3. Neither the name PX4 nor the names of its contributors may be
   *    used to endorse or promote products derived from this software
   *    without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
   * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
   * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
   * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
   * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
   * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
   * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
   * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   * POSSIBILITY OF SUCH DAMAGE.
   *
   ****************************************************************************/
  
  #pragma once
  
  #include <lib/conversion/rotation.h>
  #include <lib/mathlib/math/Limits.hpp>
  #include <lib/matrix/matrix/math.hpp>
  #include <px4_config.h>
  #include <px4_log.h>
  #include <px4_module_params.h>
  #include <px4_platform_common/px4_work_queue/WorkItem.hpp>
  #include <uORB/Publication.hpp>
  #include <uORB/Subscription.hpp>
  #include <uORB/SubscriptionCallback.hpp>
  #include <uORB/topics/parameter_update.h>
  #include <uORB/topics/sensor_bias.h>
  #include <uORB/topics/sensor_correction.h>
  #include <uORB/topics/sensor_selection.h>
  
  #include <uORB/topics/sensor_gyro.h>
  #include <uORB/topics/sensor_gyro_control.h>
  #include <uORB/topics/vehicle_angular_velocity.h>
  
  class VehicleAngularVelocity : public ModuleParams, public px4::WorkItem
  {
  public:
  
  	VehicleAngularVelocity();
  	virtual ~VehicleAngularVelocity();
  
  	void	Run() override;
  
  	bool	Start();
  	void	Stop();
  
  	void	PrintStatus();
  
  private:
  
  	void	ParametersUpdate(bool force = false);
  	void	SensorBiasUpdate(bool force = false);
  	bool	SensorCorrectionsUpdate(bool force = false);
  
  	static constexpr int MAX_SENSOR_COUNT = 3;
  
  	DEFINE_PARAMETERS(
  		(ParamInt<px4::params::SENS_BOARD_ROT>) _param_sens_board_rot,
  
  		(ParamFloat<px4::params::SENS_BOARD_X_OFF>) _param_sens_board_x_off,
  		(ParamFloat<px4::params::SENS_BOARD_Y_OFF>) _param_sens_board_y_off,
  		(ParamFloat<px4::params::SENS_BOARD_Z_OFF>) _param_sens_board_z_off
  	)
  
  	uORB::Publication<vehicle_angular_velocity_s>	_vehicle_angular_velocity_pub{ORB_ID(vehicle_angular_velocity)};
  
  	uORB::Subscription			_params_sub{ORB_ID(parameter_update)};			/**< parameter updates subscription */
  	uORB::Subscription			_sensor_bias_sub{ORB_ID(sensor_bias)};			/**< sensor in-run bias correction subscription */
  	uORB::Subscription			_sensor_correction_sub{ORB_ID(sensor_correction)};	/**< sensor thermal correction subscription */
  
  	uORB::SubscriptionCallbackWorkItem	_sensor_selection_sub{this, ORB_ID(sensor_selection)};	/**< selected primary sensor subscription */
  
  	uORB::SubscriptionCallbackWorkItem	_sensor_sub[MAX_SENSOR_COUNT] {				/**< sensor data subscription */
  		{this, ORB_ID(sensor_gyro), 0},
  		{this, ORB_ID(sensor_gyro), 1},
  		{this, ORB_ID(sensor_gyro), 2}
  	};
  
  	uORB::SubscriptionCallbackWorkItem	_sensor_control_sub[MAX_SENSOR_COUNT] {			/**< sensor control data subscription */
  		{this, ORB_ID(sensor_gyro_control), 0},
  		{this, ORB_ID(sensor_gyro_control), 1},
  		{this, ORB_ID(sensor_gyro_control), 2}
  	};
  
  	matrix::Dcmf				_board_rotation;				/**< rotation matrix for the orientation that the board is mounted */
  
  	matrix::Vector3f			_offset;
  	matrix::Vector3f			_scale;
  	matrix::Vector3f			_bias;
  
  	uint32_t				_selected_sensor_device_id{0};
  	uint8_t					_selected_sensor{0};
  	uint8_t					_selected_sensor_control{0};
  	bool					_sensor_control_available{false};
  
  };
  