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msg: rename sensor_bias -> estimator_sensor_bias

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This commit is contained in:
Daniel Agar
2020-01-27 09:03:27 +01:00
committed by Lorenz Meier
parent db49e5abcd
commit 10410fc868
11 changed files with 37 additions and 39 deletions
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src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp
+3 -3
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@@ -79,10 +79,10 @@ void VehicleAcceleration::Stop()
void VehicleAcceleration::SensorBiasUpdate(bool force)
{
if (_sensor_bias_sub.updated() || force) {
sensor_bias_s bias;
if (_estimator_sensor_bias_sub.updated() || force) {
estimator_sensor_bias_s bias;
if (_sensor_bias_sub.copy(&bias)) {
if (_estimator_sensor_bias_sub.copy(&bias)) {
if (bias.accel_device_id == _selected_sensor_device_id) {
_bias = Vector3f{bias.accel_bias};
src/modules/sensors/vehicle_acceleration/VehicleAcceleration.hpp
+4 -5
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@@ -36,19 +36,18 @@
#include <lib/conversion/rotation.h>
#include <lib/mathlib/math/Limits.hpp>
#include <lib/matrix/matrix/math.hpp>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/px4_config.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/estimator_sensor_bias.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/sensor_bias.h>
#include <uORB/topics/sensor_accel.h>
#include <uORB/topics/sensor_correction.h>
#include <uORB/topics/sensor_selection.h>
#include <uORB/topics/sensor_accel.h>
#include <uORB/topics/vehicle_acceleration.h>
class VehicleAcceleration : public ModuleParams, public px4::WorkItem
@@ -84,7 +83,7 @@ private:
uORB::Publication<vehicle_acceleration_s> _vehicle_acceleration_pub{ORB_ID(vehicle_acceleration)};
uORB::Subscription _params_sub{ORB_ID(parameter_update)};
uORB::Subscription _sensor_bias_sub{ORB_ID(sensor_bias)};
uORB::Subscription _estimator_sensor_bias_sub{ORB_ID(estimator_sensor_bias)};
uORB::Subscription _sensor_correction_sub{ORB_ID(sensor_correction)};
uORB::SubscriptionCallbackWorkItem _sensor_selection_sub{this, ORB_ID(sensor_selection)};
src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
+3 -3
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@@ -79,10 +79,10 @@ void VehicleAngularVelocity::Stop()
void VehicleAngularVelocity::SensorBiasUpdate(bool force)
{
if (_sensor_bias_sub.updated() || force) {
sensor_bias_s bias;
if (_estimator_sensor_bias_sub.updated() || force) {
estimator_sensor_bias_s bias;
if (_sensor_bias_sub.copy(&bias)) {
if (_estimator_sensor_bias_sub.copy(&bias)) {
if (bias.gyro_device_id == _selected_sensor_device_id) {
_bias = Vector3f{bias.gyro_bias};
src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp
+4 -5
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@@ -36,19 +36,18 @@
#include <lib/conversion/rotation.h>
#include <lib/mathlib/math/Limits.hpp>
#include <lib/matrix/matrix/math.hpp>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/px4_config.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/estimator_sensor_bias.h>
#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_selection.h>
#include <uORB/topics/vehicle_angular_velocity.h>
class VehicleAngularVelocity : public ModuleParams, public px4::WorkItem
@@ -84,7 +83,7 @@ private:
uORB::Publication<vehicle_angular_velocity_s> _vehicle_angular_velocity_pub{ORB_ID(vehicle_angular_velocity)};
uORB::Subscription _params_sub{ORB_ID(parameter_update)};
uORB::Subscription _sensor_bias_sub{ORB_ID(sensor_bias)};
uORB::Subscription _estimator_sensor_bias_sub{ORB_ID(estimator_sensor_bias)};
uORB::Subscription _sensor_correction_sub{ORB_ID(sensor_correction)};
uORB::SubscriptionCallbackWorkItem _sensor_selection_sub{this, ORB_ID(sensor_selection)};