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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/mavlink/mavlink_receiver.cpp
+21 -4
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@@ -2396,10 +2396,6 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
matrix::Quatf q(hil_state.attitude_quaternion);
q.copyTo(hil_attitude.q);
hil_attitude.rollspeed = hil_state.rollspeed;
hil_attitude.pitchspeed = hil_state.pitchspeed;
hil_attitude.yawspeed = hil_state.yawspeed;
if (_attitude_pub == nullptr) {
_attitude_pub = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude);
@@ -2514,6 +2510,27 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
}
}
/* gyroscope */
{
sensor_gyro_s gyro = {};
gyro.timestamp = timestamp;
gyro.x_raw = hil_state.rollspeed * 1e3f;
gyro.y_raw = hil_state.pitchspeed * 1e3f;
gyro.z_raw = hil_state.yawspeed * 1e3f;
gyro.x = hil_state.rollspeed;
gyro.y = hil_state.pitchspeed;
gyro.z = hil_state.yawspeed;
gyro.temperature = 25.0f;
if (_gyro_pub == nullptr) {
_gyro_pub = orb_advertise(ORB_ID(sensor_gyro), &gyro);
} else {
orb_publish(ORB_ID(sensor_gyro), _gyro_pub, &gyro);
}
}
/* battery status */
{
struct battery_status_s hil_battery_status = {};