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simulated sensors minor cleanup

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- mavlink receiver use PX4Accelerometer/PX4Gyroscope for hil_sensor and hil_state_quaternion
 - simulator module remove unnecessary fake scaling
 - sih module remove unnecessary fake scaling
This commit is contained in:
Daniel Agar
2020-01-24 12:50:22 -05:00
parent 27e9b1e3d4
commit 4fef3dd7d5
5 changed files with 102 additions and 88 deletions
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src/modules/sih/sih.cpp
+10 -24
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@@ -92,8 +92,8 @@ Sih *Sih::instantiate(int argc, char *argv[])
Sih::Sih() :
ModuleParams(nullptr),
_loop_perf(perf_alloc(PC_ELAPSED, "sih_execution")),
_sampling_perf(perf_alloc(PC_ELAPSED, "sih_sampling"))
_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": execution")),
_sampling_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": sampling"))
{
}
@@ -333,34 +333,20 @@ void Sih::reconstruct_sensors_signals()
void Sih::send_IMU()
{
// gyro
{
static constexpr float scaling = 1000.0f;
_px4_gyro.set_scale(1 / scaling);
_px4_gyro.set_temperature(T1_C);
_px4_gyro.update(_now, _gyro(0) * scaling, _gyro(1) * scaling, _gyro(2) * scaling);
}
_px4_gyro.set_temperature(T1_C);
_px4_gyro.update(_now, _gyro(0), _gyro(1), _gyro(2));
// accel
{
static constexpr float scaling = 1000.0f;
_px4_accel.set_scale(1 / scaling);
_px4_accel.set_temperature(T1_C);
_px4_accel.update(_now, _acc(0) * scaling, _acc(1) * scaling, _acc(2) * scaling);
}
_px4_accel.set_temperature(T1_C);
_px4_accel.update(_now, _acc(0), _acc(1), _acc(2));
// magnetometer
{
static constexpr float scaling = 1000.0f;
_px4_mag.set_scale(1 / scaling);
_px4_mag.set_temperature(T1_C);
_px4_mag.update(_now, _mag(0) * scaling, _mag(1) * scaling, _mag(2) * scaling);
}
_px4_mag.set_temperature(T1_C);
_px4_mag.update(_now, _mag(0), _mag(1), _mag(2));
// baro
{
_px4_baro.set_temperature(_baro_temp_c);
_px4_baro.update(_now, _baro_p_mBar);
}
_px4_baro.set_temperature(_baro_temp_c);
_px4_baro.update(_now, _baro_p_mBar);
}
void Sih::send_gps()