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change gyro & accel dt from float to uint64. This has the benefit of

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calculating the estimator timeslip correctly.

Signed-off-by: Nicolae Rosia <nicolae.rosia@gmail.com>
This commit is contained in:
Nicolae Rosia
2017-07-16 14:08:37 +02:00
committed by Lorenz Meier
parent 5618f34f3b
commit 0a22a9c47c
6 changed files with 25 additions and 23 deletions
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src/modules/sensors/voted_sensors_update.cpp
+4 -4
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@@ -563,7 +563,7 @@ void VotedSensorsUpdate::accel_poll(struct sensor_combined_s &raw)
accel_data = math::Vector<3>(accel_report.x_integral * dt_inv, accel_report.y_integral * dt_inv,
accel_report.z_integral * dt_inv);
_last_sensor_data[uorb_index].accelerometer_integral_dt = accel_report.integral_dt / 1.e6f;
_last_sensor_data[uorb_index].accelerometer_integral_dt = accel_report.integral_dt;
} else {
// using the value instead of the integral (the integral is the prefered choice)
@@ -579,7 +579,7 @@ void VotedSensorsUpdate::accel_poll(struct sensor_combined_s &raw)
// approximate the delta time using the difference in accel data time stamps
_last_sensor_data[uorb_index].accelerometer_integral_dt =
(accel_report.timestamp - _last_accel_timestamp[uorb_index]) / 1.e6f;
(accel_report.timestamp - _last_accel_timestamp[uorb_index]);
}
// handle temperature compensation
@@ -670,7 +670,7 @@ void VotedSensorsUpdate::gyro_poll(struct sensor_combined_s &raw)
gyro_rate = math::Vector<3>(gyro_report.x_integral * dt_inv, gyro_report.y_integral * dt_inv,
gyro_report.z_integral * dt_inv);
_last_sensor_data[uorb_index].gyro_integral_dt = gyro_report.integral_dt / 1.e6f;
_last_sensor_data[uorb_index].gyro_integral_dt = gyro_report.integral_dt;
} else {
//using the value instead of the integral (the integral is the prefered choice)
@@ -686,7 +686,7 @@ void VotedSensorsUpdate::gyro_poll(struct sensor_combined_s &raw)
// approximate the delta time using the difference in gyro data time stamps
_last_sensor_data[uorb_index].gyro_integral_dt =
(gyro_report.timestamp - _last_sensor_data[uorb_index].timestamp) / 1.e6f;
(gyro_report.timestamp - _last_sensor_data[uorb_index].timestamp);
}
// handle temperature compensation