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sensors: create vehicle_angular_velocity module (#12596)

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* split out filtered sensor_gyro aggregation from mc_att_control and move to wq:rate_ctrl
This commit is contained in:
Daniel Agar
2019-08-06 12:55:25 -04:00
committed by GitHub
parent bf0eaf4d54
commit 2ad12d7977
34 changed files with 784 additions and 382 deletions
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src/modules/land_detector/MulticopterLandDetector.cpp
+4 -3
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@@ -95,6 +95,7 @@ void MulticopterLandDetector::_update_topics()
_actuator_controls_sub.update(&_actuator_controls);
_battery_sub.update(&_battery_status);
_sensor_bias_sub.update(&_sensor_bias);
_vehicle_angular_velocity_sub.update(&_vehicle_angular_velocity);
_vehicle_attitude_sub.update(&_vehicle_attitude);
_vehicle_control_mode_sub.update(&_control_mode);
_vehicle_local_position_sub.update(&_vehicle_local_position);
@@ -215,9 +216,9 @@ bool MulticopterLandDetector::_get_maybe_landed_state()
// Next look if all rotation angles are not moving.
float maxRotationScaled = _params.maxRotation_rad_s * landThresholdFactor;
bool rotating = (fabsf(_vehicle_attitude.rollspeed) > maxRotationScaled) ||
(fabsf(_vehicle_attitude.pitchspeed) > maxRotationScaled) ||
(fabsf(_vehicle_attitude.yawspeed) > maxRotationScaled);
bool rotating = (fabsf(_vehicle_angular_velocity.xyz[0]) > maxRotationScaled) ||
(fabsf(_vehicle_angular_velocity.xyz[1]) > maxRotationScaled) ||
(fabsf(_vehicle_angular_velocity.xyz[2]) > maxRotationScaled);
// Return status based on armed state and throttle if no position lock is available.
if (!_has_altitude_lock() && !rotating) {
src/modules/land_detector/MulticopterLandDetector.h
+3
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@@ -53,6 +53,7 @@
#include <uORB/topics/battery_status.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/sensor_bias.h>
#include <uORB/topics/vehicle_angular_velocity.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_local_position.h>
@@ -126,6 +127,7 @@ private:
uORB::Subscription _actuator_controls_sub{ORB_ID(actuator_controls_0)};
uORB::Subscription _battery_sub{ORB_ID(battery_status)};
uORB::Subscription _sensor_bias_sub{ORB_ID(sensor_bias)};
uORB::Subscription _vehicle_angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};
uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
@@ -136,6 +138,7 @@ private:
vehicle_control_mode_s _control_mode {};
sensor_bias_s _sensor_bias {};
vehicle_attitude_s _vehicle_attitude {};
vehicle_angular_velocity_s _vehicle_angular_velocity{};
vehicle_local_position_s _vehicle_local_position {};
vehicle_local_position_setpoint_s _vehicle_local_position_setpoint {};