fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 11:53:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

sih: move to PX4Accelerometer/PX4Gyroscope/PX4Magnetometer/PX4Barometer helpers

Browse Source
This commit is contained in:
Daniel Agar
2019-07-28 11:18:02 -04:00
parent f432f74611
commit 09eaef82f6
3 changed files with 43 additions and 77 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/sih/sih.hpp
+11 -19
View File
@@ -41,17 +41,15 @@
#include <conversion/rotation.h> // math::radians,
#include <ecl/geo/geo.h> // to get the physical constants
#include <drivers/drv_hrt.h> // to get the real time
#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
#include <lib/drivers/barometer/PX4Barometer.hpp>
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
#include <perf/perf_counter.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/sensor_baro.h>
#include <uORB/topics/sensor_gyro.h>
#include <uORB/topics/sensor_accel.h>
#include <uORB/topics/sensor_mag.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_global_position.h> // to publish groundtruth
#include <uORB/topics/vehicle_attitude.h> // to publish groundtruth
#include <uORB/topics/vehicle_gps_position.h>
extern "C" __EXPORT int sih_main(int argc, char *argv[]);
@@ -98,18 +96,12 @@ private:
void parameters_update_poll();
void parameters_updated();
// to publish the sensor baro
struct sensor_baro_s _sensor_baro {};
orb_advert_t _sensor_baro_pub{nullptr};
// to publish the sensor mag
struct sensor_mag_s _sensor_mag {};
orb_advert_t _sensor_mag_pub{nullptr};
// to publish the sensor gyroscope
struct sensor_gyro_s _sensor_gyro {};
orb_advert_t _sensor_gyro_pub{nullptr};
// to publish the sensor accelerometer
struct sensor_accel_s _sensor_accel {};
orb_advert_t _sensor_accel_pub{nullptr};
// simulated sensor instances
PX4Accelerometer _px4_accel{ 1311244, ORB_PRIO_DEFAULT, ROTATION_NONE }; // 1311244: DRV_ACC_DEVTYPE_ACCELSIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
PX4Gyroscope _px4_gyro{ 2294028, ORB_PRIO_DEFAULT, ROTATION_NONE }; // 2294028: DRV_GYR_DEVTYPE_GYROSIM, BUS: 1, ADDR: 2, TYPE: SIMULATION
PX4Magnetometer _px4_mag{ 197388, ORB_PRIO_DEFAULT, ROTATION_NONE }; // 197388: DRV_MAG_DEVTYPE_MAGSIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
PX4Barometer _px4_baro{ 6620172, ORB_PRIO_DEFAULT }; // 6620172: DRV_BARO_DEVTYPE_BAROSIM, BUS: 1, ADDR: 4, TYPE: SIMULATION
// to publish the gps position
struct vehicle_gps_position_s _vehicle_gps_pos {};
orb_advert_t _vehicle_gps_pos_pub{nullptr};