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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/logger/logger.cpp
+9 -6
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@@ -594,15 +594,16 @@ void Logger::add_default_topics()
add_topic("optical_flow", 50);
add_topic("position_setpoint_triplet", 200);
//add_topic("radio_status");
add_topic("rate_ctrl_status", 30);
add_topic("rate_ctrl_status", 200);
add_topic("sensor_combined", 100);
add_topic("sensor_preflight", 200);
add_topic("system_power", 500);
add_topic("tecs_status", 200);
add_topic("trajectory_setpoint", 200);
add_topic("telemetry_status");
add_topic("trajectory_setpoint", 200);
add_topic("vehicle_air_data", 200);
add_topic("vehicle_attitude", 30);
add_topic("vehicle_angular_velocity", 20);
add_topic("vehicle_attitude", 50);
add_topic("vehicle_attitude_setpoint", 100);
add_topic("vehicle_command");
add_topic("vehicle_global_position", 200);
@@ -611,7 +612,7 @@ void Logger::add_default_topics()
add_topic("vehicle_local_position", 100);
add_topic("vehicle_local_position_setpoint", 100);
add_topic("vehicle_magnetometer", 200);
add_topic("vehicle_rates_setpoint", 30);
add_topic("vehicle_rates_setpoint", 20);
add_topic("vehicle_status", 200);
add_topic("vehicle_status_flags");
add_topic("vtol_vehicle_status", 200);
@@ -623,9 +624,10 @@ void Logger::add_default_topics()
add_topic("fw_virtual_attitude_setpoint");
add_topic("mc_virtual_attitude_setpoint");
add_topic("multirotor_motor_limits");
add_topic("position_controller_status");
add_topic("offboard_control_mode");
add_topic("position_controller_status");
add_topic("time_offset");
add_topic("vehicle_angular_velocity", 10);
add_topic("vehicle_attitude_groundtruth", 10);
add_topic("vehicle_global_position_groundtruth", 100);
add_topic("vehicle_local_position_groundtruth", 100);
@@ -641,6 +643,7 @@ void Logger::add_high_rate_topics()
add_topic("manual_control_setpoint");
add_topic("rate_ctrl_status");
add_topic("sensor_combined");
add_topic("vehicle_angular_velocity");
add_topic("vehicle_attitude");
add_topic("vehicle_attitude_setpoint");
add_topic("vehicle_rates_setpoint");
@@ -648,10 +651,10 @@ void Logger::add_high_rate_topics()
void Logger::add_debug_topics()
{
add_topic("debug_array");
add_topic("debug_key_value");
add_topic("debug_value");
add_topic("debug_vect");
add_topic("debug_array");
}
void Logger::add_estimator_replay_topics()