PX4 sensor driver helpers

src/lib/drivers/CMakeLists.txt

@@ -31,8 +31,11 @@
 #
 ############################################################################
 
+add_subdirectory(accelerometer)
 add_subdirectory(airspeed)
 add_subdirectory(device)
+add_subdirectory(gyroscope)
 add_subdirectory(led)
 add_subdirectory(linux_gpio)
+add_subdirectory(magnetometer)
 add_subdirectory(smbus)

src/lib/drivers/accelerometer/CMakeLists.txt

+############################################################################
+#
+#   Copyright (c) 2018 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.
+#
+############################################################################
+
+px4_add_library(drivers_accelerometer PX4Accelerometer.cpp)

src/lib/drivers/accelerometer/PX4Accelerometer.cpp

+/****************************************************************************
+ *
+ *   Copyright (c) 2018 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.
+ *
+ ****************************************************************************/
+
+
+#include "PX4Accelerometer.hpp"
+
+#include <lib/drivers/device/Device.hpp>
+
+PX4Accelerometer::PX4Accelerometer(uint32_t device_id, uint8_t priority, enum Rotation rotation) :
+	CDev(nullptr),
+	ModuleParams(nullptr),
+	_sensor_accel_pub{ORB_ID(sensor_accel), priority},
+	_rotation{get_rot_matrix(rotation)}
+{
+	_class_device_instance = register_class_devname(ACCEL_BASE_DEVICE_PATH);
+
+	_sensor_accel_pub.get().device_id = device_id;
+	_sensor_accel_pub.get().scaling = 1.0f;
+
+	// set software low pass filter for controllers
+	updateParams();
+	configure_filter(_filter_cutoff.get());
+
+	// force initial publish to allocate uORB buffer
+	// TODO: can be removed once all drivers are in threads
+	_sensor_accel_pub.update();
+}
+
+PX4Accelerometer::~PX4Accelerometer()
+{
+	if (_class_device_instance != -1) {
+		unregister_class_devname(ACCEL_BASE_DEVICE_PATH, _class_device_instance);
+	}
+}
+
+int PX4Accelerometer::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
+{
+	switch (cmd) {
+	case ACCELIOCSSCALE: {
+			// Copy offsets and scale factors in
+			accel_calibration_s cal{};
+			memcpy(&cal, (accel_calibration_s *) arg, sizeof(cal));
+
+			_calibration_offset = matrix::Vector3f{cal.x_offset, cal.y_offset, cal.z_offset};
+			_calibration_scale = matrix::Vector3f{cal.x_scale, cal.y_scale, cal.z_scale};
+		}
+
+		return PX4_OK;
+
+	case DEVIOCGDEVICEID:
+		return _sensor_accel_pub.get().device_id;
+
+	default:
+		return -ENOTTY;
+	}
+}
+
+void PX4Accelerometer::set_device_type(uint8_t devtype)
+{
+	// current DeviceStructure
+	union device::Device::DeviceId device_id;
+	device_id.devid = _sensor_accel_pub.get().device_id;
+
+	// update to new device type
+	device_id.devid_s.devtype = devtype;
+
+	// copy back to report
+	_sensor_accel_pub.get().device_id = device_id.devid;
+}
+
+void PX4Accelerometer::update(hrt_abstime timestamp, int16_t x, int16_t y, int16_t z)
+{
+	sensor_accel_s &report = _sensor_accel_pub.get();
+	report.timestamp = timestamp;
+
+	// Apply rotation, range scale, and the calibrating offset/scale
+	const matrix::Vector3f val_raw{(float)x, (float)y, (float)z};
+	const matrix::Vector3f val_calibrated{ _rotation *(((val_raw * report.scaling) - _calibration_offset).emult(_calibration_scale))};
+
+	// Filtered values
+	const matrix::Vector3f val_filtered{_filter.apply(val_calibrated)};
+
+	// Integrated values
+	matrix::Vector3f integrated_value;
+	uint32_t integral_dt = 0;
+
+	if (_integrator.put(timestamp, val_calibrated, integrated_value, integral_dt)) {
+
+		// Raw values (ADC units 0 - 65535)
+		report.x_raw = x;
+		report.y_raw = y;
+		report.z_raw = z;
+
+		report.x = val_filtered(0);
+		report.y = val_filtered(1);
+		report.z = val_filtered(2);
+
+		report.integral_dt = integral_dt;
+		report.x_integral = integrated_value(0);
+		report.y_integral = integrated_value(1);
+		report.z_integral = integrated_value(2);
+
+		poll_notify(POLLIN);
+		_sensor_accel_pub.update();
+	}
+}
+
+void PX4Accelerometer::print_status()
+{
+	PX4_INFO(ACCEL_BASE_DEVICE_PATH " device instance: %d", _class_device_instance);
+	PX4_INFO("sample rate: %d Hz", _sample_rate);
+	PX4_INFO("filter cutoff: %.3f Hz", (double)_filter.get_cutoff_freq());
+
+	PX4_INFO("calibration scale: %.5f %.5f %.5f", (double)_calibration_scale(0), (double)_calibration_scale(1),
+		 (double)_calibration_scale(2));
+	PX4_INFO("calibration offset: %.5f %.5f %.5f", (double)_calibration_offset(0), (double)_calibration_offset(1),
+		 (double)_calibration_offset(2));
+
+	print_message(_sensor_accel_pub.get());
+}

src/lib/drivers/accelerometer/PX4Accelerometer.hpp

+/****************************************************************************
+ *
+ *   Copyright (c) 2018 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.
+ *
+ ****************************************************************************/
+
+
+#include <drivers/device/integrator.h>
+#include <drivers/drv_accel.h>
+#include <drivers/drv_hrt.h>
+#include <lib/cdev/CDev.hpp>
+#include <lib/conversion/rotation.h>
+#include <mathlib/math/filter/LowPassFilter2pVector3f.hpp>
+#include <px4_module_params.h>
+#include <uORB/uORB.h>
+#include <uORB/Publication.hpp>
+#include <uORB/topics/sensor_accel.h>
+
+class PX4Accelerometer : public cdev::CDev, public ModuleParams
+{
+
+public:
+	PX4Accelerometer(uint32_t device_id, uint8_t priority, enum Rotation rotation);
+	~PX4Accelerometer() override;
+
+	int	ioctl(cdev::file_t *filp, int cmd, unsigned long arg) override;
+
+	void set_device_type(uint8_t devtype);
+	void set_error_count(uint64_t error_count) { _sensor_accel_pub.get().error_count = error_count; }
+	void set_scale(float scale) { _sensor_accel_pub.get().scaling = scale; }
+	void set_temperature(float temperature) { _sensor_accel_pub.get().temperature = temperature; }
+
+	void set_sample_rate(unsigned rate) { _sample_rate = rate; }
+
+	void configure_filter(float cutoff_freq) { _filter.set_cutoff_frequency(_sample_rate, cutoff_freq); }
+
+	void update(hrt_abstime timestamp, int16_t x, int16_t y, int16_t z);
+
+	void print_status();
+
+private:
+
+	uORB::Publication<sensor_accel_s>	_sensor_accel_pub;
+
+	math::LowPassFilter2pVector3f _filter{1000, 100};
+	Integrator _integrator{4000, false};
+
+	const matrix::Dcmf	_rotation;
+
+	matrix::Vector3f	_calibration_scale{1.0f, 1.0f, 1.0f};
+	matrix::Vector3f	_calibration_offset{0.0f, 0.0f, 0.0f};
+
+	int			_class_device_instance{-1};
+
+	unsigned	_sample_rate{1000};
+
+	DEFINE_PARAMETERS(
+		(ParamFloat<px4::params::IMU_ACCEL_CUTOFF>) _filter_cutoff
+	)
+
+};

src/lib/drivers/device/integrator.cpp

@@ -44,14 +44,15 @@
 
 #include <drivers/drv_hrt.h>
 
-Integrator::Integrator(uint64_t auto_reset_interval, bool coning_compensation) :
-	_auto_reset_interval(auto_reset_interval),
+Integrator::Integrator(uint32_t auto_reset_interval, bool coning_compensation) :
 	_coning_comp_on(coning_compensation)
 {
+	set_autoreset_interval(auto_reset_interval);
 }
 
 bool
-Integrator::put(uint64_t timestamp, matrix::Vector3f &val, matrix::Vector3f &integral, uint32_t &integral_dt)
+Integrator::put(const uint64_t &timestamp, const matrix::Vector3f &val, matrix::Vector3f &integral,
+		uint32_t &integral_dt)
 {
 	if (_last_integration_time == 0) {
 		/* this is the first item in the integrator */
@@ -72,7 +73,7 @@ Integrator::put(uint64_t timestamp, matrix::Vector3f &val, matrix::Vector3f &int
 	}
 
 	// Use trapezoidal integration to calculate the delta integral
-	matrix::Vector3f delta_alpha = (val + _last_val) * dt * 0.5f;
+	const matrix::Vector3f delta_alpha = (val + _last_val) * dt * 0.5f;
 	_last_val = val;
 
 	// Calculate coning corrections if required
@@ -128,7 +129,7 @@ Integrator::put_with_interval(unsigned interval_us, matrix::Vector3f &val, matri
 	}
 
 	// Create the timestamp artifically.
-	uint64_t timestamp = _last_integration_time + interval_us;
+	const uint64_t timestamp = _last_integration_time + interval_us;
 
 	return put(timestamp, val, integral, integral_dt);
 }
@@ -149,12 +150,10 @@ matrix::Vector3f
 Integrator::get_and_filtered(bool reset, uint32_t &integral_dt, matrix::Vector3f &filtered_val)
 {
 	// Do the usual get with reset first but don't return yet.
-	matrix::Vector3f ret_integral = get(reset, integral_dt);
+	const matrix::Vector3f ret_integral = get(reset, integral_dt);
 
 	// Because we need both the integral and the integral_dt.
-	filtered_val(0) = ret_integral(0) * 1000000 / integral_dt;
-	filtered_val(1) = ret_integral(1) * 1000000 / integral_dt;
-	filtered_val(2) = ret_integral(2) * 1000000 / integral_dt;
+	filtered_val = ret_integral * 1000000 / integral_dt;
 
 	return ret_integral;
 }

src/lib/drivers/device/integrator.h

@@ -48,7 +48,7 @@
 class Integrator
 {
 public:
-	Integrator(uint64_t auto_reset_interval = 4000 /* 250 Hz */, bool coning_compensation = false);
+	Integrator(uint32_t auto_reset_interval = 4000 /* 250 Hz */, bool coning_compensation = false);
 	~Integrator() = default;
 
 	// no copy, assignment, move, move assignment
@@ -67,7 +67,7 @@ public:
 	 * @return		true if putting the item triggered an integral reset and the integral should be
 	 *			published.
 	 */
-	bool put(uint64_t timestamp, matrix::Vector3f &val, matrix::Vector3f &integral, uint32_t &integral_dt);
+	bool put(const uint64_t &timestamp, const matrix::Vector3f &val, matrix::Vector3f &integral, uint32_t &integral_dt);
 
 	/**
 	 * Put an item into the integral but provide an interval instead of a timestamp.
@@ -108,12 +108,12 @@ public:
 	/**
 	 * Set auto reset interval during runtime. This won't reset the integrator.
 	 *
-	 * @param auto_reset_interval	    	New reset time interval for the integrator.
+	 * @param auto_reset_interval	    	New reset time interval for the integrator (+- 10%).
 	 */
-	void set_autoreset_interval(uint64_t auto_reset_interval) { _auto_reset_interval = auto_reset_interval; }
+	void set_autoreset_interval(uint32_t auto_reset_interval) { _auto_reset_interval = 0.90f * auto_reset_interval; }
 
 private:
-	uint64_t _auto_reset_interval{0};			/**< the interval after which the content will be published
+	uint32_t _auto_reset_interval{0};			/**< the interval after which the content will be published
 							     and the integrator reset, 0 if no auto-reset */
 
 	uint64_t _last_integration_time{0};		/**< timestamp of the last integration step */

src/lib/drivers/gyroscope/CMakeLists.txt

+############################################################################
+#
+#   Copyright (c) 2018 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.
+#
+############################################################################
+
+px4_add_library(drivers_gyroscope PX4Gyroscope.cpp)

src/lib/drivers/gyroscope/PX4Gyroscope.cpp

+/****************************************************************************
+ *
+ *   Copyright (c) 2018 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.
+ *
+ ****************************************************************************/
+
+
+#include "PX4Gyroscope.hpp"
+
+#include <lib/drivers/device/Device.hpp>
+
+PX4Gyroscope::PX4Gyroscope(uint32_t device_id, uint8_t priority, enum Rotation rotation) :
+	CDev(nullptr),
+	ModuleParams(nullptr),
+	_sensor_gyro_pub{ORB_ID(sensor_gyro), priority},
+	_rotation{get_rot_matrix(rotation)}
+{
+	_class_device_instance = register_class_devname(GYRO_BASE_DEVICE_PATH);
+
+	_sensor_gyro_pub.get().device_id = device_id;
+	_sensor_gyro_pub.get().scaling = 1.0f;
+
+	// set software low pass filter for controllers
+	updateParams();
+	configure_filter(_filter_cutoff.get());
+
+	// force initial publish to allocate uORB buffer
+	// TODO: can be removed once all drivers are in threads
+	_sensor_gyro_pub.update();
+}
+
+PX4Gyroscope::~PX4Gyroscope()
+{
+	if (_class_device_instance != -1) {
+		unregister_class_devname(GYRO_BASE_DEVICE_PATH, _class_device_instance);
+	}
+}
+
+int PX4Gyroscope::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
+{
+	switch (cmd) {
+	case GYROIOCSSCALE: {
+			// Copy offsets and scale factors in
+			gyro_calibration_s cal{};
+			memcpy(&cal, (gyro_calibration_s *) arg, sizeof(cal));
+
+			_calibration_offset = matrix::Vector3f{cal.x_offset, cal.y_offset, cal.z_offset};
+			_calibration_scale = matrix::Vector3f{cal.x_scale, cal.y_scale, cal.z_scale};
+		}
+
+		return PX4_OK;
+
+	case DEVIOCGDEVICEID:
+		return _sensor_gyro_pub.get().device_id;
+
+	default:
+		return -ENOTTY;
+	}
+}
+
+void PX4Gyroscope::set_device_type(uint8_t devtype)
+{
+	// current DeviceStructure
+	union device::Device::DeviceId device_id;
+	device_id.devid = _sensor_gyro_pub.get().device_id;
+
+	// update to new device type
+	device_id.devid_s.devtype = devtype;
+
+	// copy back to report
+	_sensor_gyro_pub.get().device_id = device_id.devid;
+}
+
+void PX4Gyroscope::update(hrt_abstime timestamp, int16_t x, int16_t y, int16_t z)
+{
+	sensor_gyro_s &report = _sensor_gyro_pub.get();
+	report.timestamp = timestamp;
+
+	// Apply rotation, range scale, and the calibrating offset/scale
+	const matrix::Vector3f val_raw{(float)x, (float)y, (float)z};
+	const matrix::Vector3f val_calibrated{ _rotation *(((val_raw * report.scaling) - _calibration_offset).emult(_calibration_scale))};
+
+	// Filtered values
+	const matrix::Vector3f val_filtered{_filter.apply(val_calibrated)};
+
+	// Integrated values
+	matrix::Vector3f integrated_value;
+	uint32_t integral_dt = 0;
+
+	if (_integrator.put(timestamp, val_calibrated, integrated_value, integral_dt)) {
+
+		// Raw values (ADC units 0 - 65535)
+		report.x_raw = x;
+		report.y_raw = y;
+		report.z_raw = z;
+
+		report.x = val_filtered(0);
+		report.y = val_filtered(1);
+		report.z = val_filtered(2);
+
+		report.integral_dt = integral_dt;
+		report.x_integral = integrated_value(0);
+		report.y_integral = integrated_value(1);
+		report.z_integral = integrated_value(2);
+
+		poll_notify(POLLIN);
+		_sensor_gyro_pub.update();
+	}
+}
+
+void PX4Gyroscope::print_status()
+{
+	PX4_INFO(GYRO_BASE_DEVICE_PATH " device instance: %d", _class_device_instance);
+	PX4_INFO("sample rate: %d Hz", _sample_rate);
+	PX4_INFO("filter cutoff: %.3f Hz", (double)_filter.get_cutoff_freq());
+
+	PX4_INFO("calibration scale: %.5f %.5f %.5f", (double)_calibration_scale(0), (double)_calibration_scale(1),
+		 (double)_calibration_scale(2));
+	PX4_INFO("calibration offset: %.5f %.5f %.5f", (double)_calibration_offset(0), (double)_calibration_offset(1),
+		 (double)_calibration_offset(2));
+
+	print_message(_sensor_gyro_pub.get());
+}

src/lib/drivers/gyroscope/PX4Gyroscope.hpp

+/****************************************************************************
+ *
+ *   Copyright (c) 2018 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.
+ *
+ ****************************************************************************/
+
+
+#include <drivers/device/integrator.h>
+#include <drivers/drv_gyro.h>
+#include <drivers/drv_hrt.h>
+#include <lib/cdev/CDev.hpp>
+#include <lib/conversion/rotation.h>
+#include <mathlib/math/filter/LowPassFilter2pVector3f.hpp>
+#include <px4_module_params.h>
+#include <uORB/uORB.h>
+#include <uORB/Publication.hpp>
+#include <uORB/topics/sensor_gyro.h>
+
+class PX4Gyroscope : public cdev::CDev, public ModuleParams
+{
+
+public:
+	PX4Gyroscope(uint32_t device_id, uint8_t priority, enum Rotation rotation);
+	~PX4Gyroscope() override;
+
+	int	ioctl(cdev::file_t *filp, int cmd, unsigned long arg) override;
+
+	void set_device_type(uint8_t devtype);
+	void set_error_count(uint64_t error_count) { _sensor_gyro_pub.get().error_count = error_count; }
+	void set_scale(float scale) { _sensor_gyro_pub.get().scaling = scale; }
+	void set_temperature(float temperature) { _sensor_gyro_pub.get().temperature = temperature; }
+
+	void set_sample_rate(unsigned rate) { _sample_rate = rate; }
+
+	void configure_filter(float cutoff_freq) { _filter.set_cutoff_frequency(_sample_rate, cutoff_freq); }
+
+	void update(hrt_abstime timestamp, int16_t x, int16_t y, int16_t z);
+
+	void print_status();
+
+private:
+
+	uORB::Publication<sensor_gyro_s>	_sensor_gyro_pub;
+
+	math::LowPassFilter2pVector3f _filter{1000, 100};
+	Integrator _integrator{4000, true};
+
+	const matrix::Dcmf	_rotation;
+
+	matrix::Vector3f	_calibration_scale{1.0f, 1.0f, 1.0f};
+	matrix::Vector3f	_calibration_offset{0.0f, 0.0f, 0.0f};
+
+	int			_class_device_instance{-1};
+
+	unsigned	_sample_rate{1000};
+
+	DEFINE_PARAMETERS(
+		(ParamFloat<px4::params::IMU_GYRO_CUTOFF>) _filter_cutoff
+	)
+
+};

src/lib/drivers/magnetometer/CMakeLists.txt

+############################################################################
+#
+#   Copyright (c) 2018 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.
+#
+############################################################################
+
+px4_add_library(drivers__magnetometer PX4Magnetometer.cpp)

src/lib/drivers/magnetometer/PX4Magnetometer.cpp

+/****************************************************************************
+ *
+ *   Copyright (c) 2018 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.
+ *
+ ****************************************************************************/
+
+
+#include "PX4Magnetometer.hpp"
+
+PX4Magnetometer::PX4Magnetometer(const char *path, device::Device  *interface, uint8_t dev_type, enum Rotation rotation,
+				 float scale) :
+	CDev(path),
+	_interface(interface)
+{
+	_device_id.devid = _interface->get_device_id();
+	// _device_id.devid_s.bus_type = (device::Device::DeviceBusType)_interface->get_device_bus_type();
+	// _device_id.devid_s.bus = _interface->get_device_bus();
+	// _device_id.devid_s.address = _interface->get_device_address();
+	_device_id.devid_s.devtype = dev_type;
+
+	CDev::init();
+
+	_class_device_instance = register_class_devname(MAG_BASE_DEVICE_PATH);
+
+	_rotation = rotation;
+	_scale = scale;
+
+	_cal.x_offset = 0;
+	_cal.x_scale  = 1.0f;
+	_cal.y_offset = 0;
+	_cal.y_scale  = 1.0f;
+	_cal.z_offset = 0;
+	_cal.z_scale  = 1.0f;
+}
+
+PX4Magnetometer::~PX4Magnetometer()
+{
+	if (_topic != nullptr) {
+		orb_unadvertise(_topic);
+	}
+}
+
+int PX4Magnetometer::init()
+{
+	mag_report report{};
+	report.device_id = _device_id.devid;
+
+	if (_topic == nullptr) {
+		_topic = orb_advertise_multi(ORB_ID(sensor_mag), &report, &_orb_class_instance, ORB_PRIO_HIGH - 1);
+
+		if (_topic == nullptr) {
+			PX4_ERR("Advertise failed.");
+			return PX4_ERROR;
+		}
+	}
+
+	return PX4_OK;
+}
+
+int PX4Magnetometer::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
+{
+	switch (cmd) {
+	case MAGIOCSSCALE:
+		// Copy scale in.
+		memcpy(&_cal, (struct mag_calibration_s *) arg, sizeof(_cal));
+		return OK;
+
+	case MAGIOCGSCALE:
+		// Copy scale out.
+		memcpy((struct mag_calibration_s *) arg, &_cal, sizeof(_cal));
+		return OK;
+
+	case DEVIOCGDEVICEID:
+		return _device_id.devid;
+
+	default:
+		// Give it to the superclass.
+		return CDev::ioctl(filp, cmd, arg);
+	}
+}
+
+void PX4Magnetometer::configure_filter(float sample_freq, float cutoff_freq)
+{
+	_filter_x.set_cutoff_frequency(sample_freq, cutoff_freq);
+	_filter_y.set_cutoff_frequency(sample_freq, cutoff_freq);
+	_filter_z.set_cutoff_frequency(sample_freq, cutoff_freq);
+}
+
+// @TODO: use fixed point math to reclaim CPU usage
+int PX4Magnetometer::publish(float x, float y, float z, float temperature)
+{
+	sensor_mag_s report{};
+
+	report.device_id   = _device_id.devid;
+	report.error_count = 0;
+	report.scaling 	   = _scale;
+	report.timestamp   = hrt_absolute_time();
+	report.temperature = temperature;
+	report.is_external = false;
+
+
+	// Raw values (ADC units 0 - 65535)
+	report.x_raw = x;
+	report.y_raw = y;
+	report.z_raw = z;
+
+	// Apply the rotation.
+	rotate_3f(_rotation, x, y, z);
+
+	// Apply FS range scale and the calibrating offset/scale
+	x = ((x * _scale) - _cal.x_offset) * _cal.x_scale;
+	y = ((y * _scale) - _cal.y_offset) * _cal.y_scale;
+	z = ((z * _scale) - _cal.z_offset) * _cal.z_scale;
+
+	// Filtered values
+	report.x = _filter_x.apply(x);
+	report.y = _filter_y.apply(y);
+	report.z = _filter_z.apply(z);
+
+	poll_notify(POLLIN);
+	orb_publish(ORB_ID(sensor_mag), _topic, &report);
+
+	return PX4_OK;
+}
\ No newline at end of file

src/lib/drivers/magnetometer/PX4Magnetometer.hpp

+/****************************************************************************
+ *
+ *   Copyright (c) 2018 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.
+ *
+ ****************************************************************************/
+
+
+#include <mathlib/math/filter/LowPassFilter2p.hpp>
+
+#include <drivers/device/integrator.h>
+#include <drivers/drv_mag.h>
+#include <drivers/drv_hrt.h>
+#include <lib/drivers/device/Device.hpp>
+#include <lib/cdev/CDev.hpp>
+#include <lib/conversion/rotation.h>
+#include <uORB/topics/sensor_mag.h>
+#include <uORB/uORB.h>
+
+class PX4Magnetometer : public cdev::CDev
+{
+
+public:
+	PX4Magnetometer(const char *name, device::Device  *interface, uint8_t dev_type, enum Rotation rotation, float scale);
+	~PX4Magnetometer() override;
+
+	int	init() override;
+	int	ioctl(cdev::file_t *filp, int cmd, unsigned long arg) override;
+
+	int publish(float x, float y, float z, float temperature);
+
+	void configure_filter(float sample_freq, float cutoff_freq);
+
+private:
+	// Pointer to the communication interface
+	const device::Device *_interface{nullptr};
+
+	mag_calibration_s _cal{};
+
+	orb_advert_t _topic{nullptr};
+
+	device::Device::DeviceId _device_id{};
+
+	int	_orb_class_instance{-1};
+
+	int _class_device_instance{-1};
+
+	enum Rotation _rotation {ROTATION_NONE};
+
+	float _scale{1.0f};
+
+	math::LowPassFilter2p _filter_x{100, 20};
+	math::LowPassFilter2p _filter_y{100, 20};
+	math::LowPassFilter2p _filter_z{100, 20};
+};