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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/sih/sih.hpp
+14 -7
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@@ -47,8 +47,9 @@
#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
#include <perf/perf_counter.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_global_position.h> // to publish groundtruth
#include <uORB/topics/vehicle_angular_velocity.h> // to publish groundtruth
#include <uORB/topics/vehicle_attitude.h> // to publish groundtruth
#include <uORB/topics/vehicle_global_position.h> // to publish groundtruth
#include <uORB/topics/vehicle_gps_position.h>
extern "C" __EXPORT int sih_main(int argc, char *argv[]);
@@ -103,14 +104,20 @@ private:
PX4Barometer _px4_baro{ 6620172, ORB_PRIO_DEFAULT }; // 6620172: DRV_BARO_DEVTYPE_BAROSIM, BUS: 1, ADDR: 4, TYPE: SIMULATION
// to publish the gps position
struct vehicle_gps_position_s _vehicle_gps_pos {};
orb_advert_t _vehicle_gps_pos_pub{nullptr};
vehicle_gps_position_s _vehicle_gps_pos{};
orb_advert_t _vehicle_gps_pos_pub{nullptr};
// angular velocity groundtruth
vehicle_angular_velocity_s _vehicle_angular_velocity_gt{};
orb_advert_t _vehicle_angular_velocity_gt_pub{nullptr};
// attitude groundtruth
struct vehicle_global_position_s _gpos_gt {};
orb_advert_t _gpos_gt_sub{nullptr};
vehicle_attitude_s _att_gt{};
orb_advert_t _att_gt_pub{nullptr};
// global position groundtruth
struct vehicle_attitude_s _att_gt {};
orb_advert_t _att_gt_sub{nullptr};
vehicle_global_position_s _gpos_gt{};
orb_advert_t _gpos_gt_pub{nullptr};
int _parameter_update_sub {-1};
int _actuator_out_sub {-1};