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move baro and magnetometer data out of sensor_combined

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This commit is contained in:
Daniel Agar
2018-04-11 23:26:58 -04:00
parent 3e6ba1d541
commit 3b5b12e1d1
31 changed files with 289 additions and 266 deletions
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src/drivers/telemetry/hott/messages.cpp
+7 -13
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@@ -48,7 +48,7 @@
#include <uORB/topics/battery_status.h>
#include <uORB/topics/esc_status.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_air_data.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <drivers/drv_hrt.h>
@@ -59,7 +59,7 @@
static int _battery_sub = -1;
static int _gps_sub = -1;
static int _home_sub = -1;
static int _sensor_sub = -1;
static int _airdata_sub = -1;
static int _airspeed_sub = -1;
static int _esc_sub = -1;
@@ -75,7 +75,7 @@ init_sub_messages(void)
_battery_sub = orb_subscribe(ORB_ID(battery_status));
_gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
_home_sub = orb_subscribe(ORB_ID(home_position));
_sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
_airdata_sub = orb_subscribe(ORB_ID(vehicle_air_data));
_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
_esc_sub = orb_subscribe(ORB_ID(esc_status));
}
@@ -132,9 +132,8 @@ void
build_eam_response(uint8_t *buffer, size_t *size)
{
/* get a local copy of the current sensor values */
struct sensor_combined_s raw;
memset(&raw, 0, sizeof(raw));
orb_copy(ORB_ID(sensor_combined), _sensor_sub, &raw);
vehicle_air_data_s airdata = {};
orb_copy(ORB_ID(vehicle_air_data), _airdata_sub, &airdata);
/* get a local copy of the battery data */
struct battery_status_s battery;
@@ -149,12 +148,12 @@ build_eam_response(uint8_t *buffer, size_t *size)
msg.eam_sensor_id = EAM_SENSOR_ID;
msg.sensor_text_id = EAM_SENSOR_TEXT_ID;
msg.temperature1 = (uint8_t)(raw.baro_temp_celcius + 20);
msg.temperature1 = (uint8_t)(airdata.baro_temp_celcius + 20);
msg.temperature2 = msg.temperature1 - BOARD_TEMP_OFFSET_DEG;
msg.main_voltage_L = (uint8_t)(battery.voltage_v * 10);
uint16_t alt = (uint16_t)(raw.baro_alt_meter + 500);
uint16_t alt = (uint16_t)(airdata.baro_alt_meter + 500);
msg.altitude_L = (uint8_t)alt & 0xff;
msg.altitude_H = (uint8_t)(alt >> 8) & 0xff;
@@ -209,11 +208,6 @@ build_gam_response(uint8_t *buffer, size_t *size)
void
build_gps_response(uint8_t *buffer, size_t *size)
{
/* get a local copy of the current sensor values */
struct sensor_combined_s raw;
memset(&raw, 0, sizeof(raw));
orb_copy(ORB_ID(sensor_combined), _sensor_sub, &raw);
/* get a local copy of the battery data */
struct vehicle_gps_position_s gps;
memset(&gps, 0, sizeof(gps));