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sensors: organize vars in voted_sensors_update.h

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This commit is contained in:
Mark Sauder
2019-10-02 19:54:38 -04:00
committed by Daniel Agar
parent e3bbac0447
commit 3ce58f7102
1 changed files with 12 additions and 13 deletions
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src/modules/sensors/voted_sensors_update.h
+12 -13
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@@ -256,34 +256,33 @@ private:
vehicle_air_data_s _last_airdata[SENSOR_COUNT_MAX] {}; /**< latest sensor data from all sensors instances */
vehicle_magnetometer_s _last_magnetometer[SENSOR_COUNT_MAX] {}; /**< latest sensor data from all sensors instances */
uint64_t _last_accel_timestamp[ACCEL_COUNT_MAX] {}; /**< latest full timestamp */
matrix::Dcmf _board_rotation {}; /**< rotation matrix for the orientation that the board is mounted */
matrix::Dcmf _mag_rotation[MAG_COUNT_MAX] {}; /**< rotation matrix for the orientation that the external mag0 is mounted */
const Parameters &_parameters;
const bool _hil_enabled{false}; /**< is hardware-in-the-loop mode enabled? */
float _accel_diff[3][2] {}; /**< filtered accel differences between IMU units (m/s/s) */
float _gyro_diff[3][2] {}; /**< filtered gyro differences between IMU uinits (rad/s) */
float _mag_angle_diff[2] {}; /**< filtered mag angle differences between sensor instances (Ga) */
/* sensor thermal compensation */
TemperatureCompensation _temperature_compensation{};
sensor_correction_s _corrections {}; /**< struct containing the sensor corrections to be published to the uORB */
sensor_selection_s _selection {}; /**< struct containing the sensor selection to be published to the uORB */
subsystem_info_s _info {}; /**< subsystem info publication */
bool _corrections_changed{false};
bool _selection_changed{false}; /**< true when a sensor selection has changed and not been published */
uORB::PublicationQueued<subsystem_info_s> _info_pub{ORB_ID(subsystem_info)}; /* subsystem info publication */
float _accel_diff[3][2] {}; /**< filtered accel differences between IMU units (m/s/s) */
float _gyro_diff[3][2] {}; /**< filtered gyro differences between IMU uinits (rad/s) */
float _mag_angle_diff[2] {}; /**< filtered mag angle differences between sensor instances (Ga) */
uint32_t _accel_device_id[SENSOR_COUNT_MAX] {}; /**< accel driver device id for each uorb instance */
uint32_t _baro_device_id[SENSOR_COUNT_MAX] {}; /**< baro driver device id for each uorb instance */
uint32_t _gyro_device_id[SENSOR_COUNT_MAX] {}; /**< gyro driver device id for each uorb instance */
uint32_t _mag_device_id[SENSOR_COUNT_MAX] {}; /**< mag driver device id for each uorb instance */
uint64_t _last_accel_timestamp[ACCEL_COUNT_MAX] {}; /**< latest full timestamp */
sensor_correction_s _corrections {}; /**< struct containing the sensor corrections to be published to the uORB */
sensor_selection_s _selection {}; /**< struct containing the sensor selection to be published to the uORB */
subsystem_info_s _info {}; /**< subsystem info publication */
TemperatureCompensation _temperature_compensation{}; /**< sensor thermal compensation */
uORB::PublicationQueued<subsystem_info_s> _info_pub{ORB_ID(subsystem_info)}; /* subsystem info publication */
};
} /* namespace sensors */