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voted_sensors_update: refactor to camelCase function names

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This commit is contained in:
Matthias Grob
2019-08-07 18:44:39 +02:00
committed by Lorenz Meier
parent 89a0a3acb6
commit 161429f8c6
4 changed files with 73 additions and 73 deletions
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src/modules/sensors/sensors.cpp
+13 -13
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@@ -286,7 +286,7 @@ Sensors::parameters_update()
}
_rc_update.update_rc_functions();
_voted_sensors_update.parameters_update();
_voted_sensors_update.parametersUpdate();
return ret;
}
@@ -589,7 +589,7 @@ Sensors::run()
parameter_update_poll(true);
/* get a set of initial values */
_voted_sensors_update.sensors_poll(raw, airdata, magnetometer);
_voted_sensors_update.sensorsPoll(raw, airdata, magnetometer);
diff_pres_poll(airdata);
@@ -606,7 +606,7 @@ Sensors::run()
while (!should_exit()) {
/* use the best-voted gyro to pace output */
poll_fds.fd = _voted_sensors_update.best_gyro_fd();
poll_fds.fd = _voted_sensors_update.bestGyroFd();
/* wait for up to 50ms for data (Note that this implies, we can have a fail-over time of 50ms,
* if a gyro fails) */
@@ -620,8 +620,8 @@ Sensors::run()
/* if the polling operation failed because no gyro sensor is available yet,
* then attempt to subscribe once again
*/
if (_voted_sensors_update.num_gyros() == 0) {
_voted_sensors_update.initialize_sensors();
if (_voted_sensors_update.numGyros() == 0) {
_voted_sensors_update.initializeSensors();
}
px4_usleep(1000);
@@ -637,12 +637,12 @@ Sensors::run()
_armed = vcontrol_mode.flag_armed;
}
/* the timestamp of the raw struct is updated by the gyro_poll() method (this makes the gyro
/* the timestamp of the raw struct is updated by the gyroPoll() method (this makes the gyro
* a mandatory sensor) */
const uint64_t airdata_prev_timestamp = airdata.timestamp;
const uint64_t magnetometer_prev_timestamp = magnetometer.timestamp;
_voted_sensors_update.sensors_poll(raw, airdata, magnetometer);
_voted_sensors_update.sensorsPoll(raw, airdata, magnetometer);
/* check battery voltage */
adc_poll();
@@ -651,7 +651,7 @@ Sensors::run()
if (raw.timestamp > 0) {
_voted_sensors_update.set_relative_timestamps(raw);
_voted_sensors_update.setRelativeTimestamps(raw);
int instance;
orb_publish_auto(ORB_ID(sensor_combined), &_sensor_pub, &raw, &instance, ORB_PRIO_DEFAULT);
@@ -664,15 +664,15 @@ Sensors::run()
orb_publish_auto(ORB_ID(vehicle_magnetometer), &_magnetometer_pub, &magnetometer, &instance, ORB_PRIO_DEFAULT);
}
_voted_sensors_update.check_failover();
_voted_sensors_update.checkFailover();
/* If the the vehicle is disarmed calculate the length of the maximum difference between
* IMU units as a consistency metric and publish to the sensor preflight topic
*/
if (!_armed) {
preflt.timestamp = hrt_absolute_time();
_voted_sensors_update.calc_accel_inconsistency(preflt);
_voted_sensors_update.calc_gyro_inconsistency(preflt);
_voted_sensors_update.calcAccelInconsistency(preflt);
_voted_sensors_update.calcGyroInconsistency(preflt);
_voted_sensors_update.calcMagInconsistency(preflt);
orb_publish(ORB_ID(sensor_preflight), _sensor_preflight, &preflt);
}
@@ -682,7 +682,7 @@ Sensors::run()
* when not adding sensors poll for param updates
*/
if (!_armed && hrt_elapsed_time(&last_config_update) > 500_ms) {
_voted_sensors_update.initialize_sensors();
_voted_sensors_update.initializeSensors();
last_config_update = hrt_absolute_time();
} else {
@@ -735,7 +735,7 @@ int Sensors::task_spawn(int argc, char *argv[])
int Sensors::print_status()
{
_voted_sensors_update.print_status();
_voted_sensors_update.printStatus();
PX4_INFO("Airspeed status:");
_airspeed_validator.print();