fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-09 20:01:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

sensors/vehicle_imu: use accel & gyro FIFO if available

Browse Source
This commit is contained in:
Daniel Agar
2022-09-21 21:06:09 -04:00
parent 54c97db8b2
commit 52e98f99f4
164 changed files with 6052 additions and 5902 deletions
Download Patch File Download Diff File Expand all files Collapse all files
msg/CMakeLists.txt
+1 -2
View File
@@ -144,7 +144,6 @@ set(msg_files
rtl_time_estimate.msg
satellite_info.msg
sensor_accel.msg
sensor_accel_fifo.msg
sensor_baro.msg
sensor_combined.msg
sensor_correction.msg
@@ -152,8 +151,8 @@ set(msg_files
sensor_gps.msg
sensor_gyro.msg
sensor_gyro_fft.msg
sensor_gyro_fifo.msg
sensor_hygrometer.msg
sensor_imu_fifo.msg
sensor_mag.msg
sensor_optical_flow.msg
sensor_preflight_mag.msg
msg/sensor_accel.msg
+2 -4
View File
@@ -7,12 +7,10 @@ float32 x # acceleration in the FRD board frame X-axis in m/s^2
float32 y # acceleration in the FRD board frame Y-axis in m/s^2
float32 z # acceleration in the FRD board frame Z-axis in m/s^2
float32 range # TODO
float32 temperature # temperature in degrees Celsius
uint32 error_count
uint8[3] clip_counter # clip count per axis in the sample period
uint8 samples # number of raw samples that went into this message
uint8 ORB_QUEUE_LENGTH = 8
msg/sensor_accel_fifo.msg
-13
View File
@@ -1,13 +0,0 @@
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample
uint32 device_id # unique device ID for the sensor that does not change between power cycles
float32 dt # delta time between samples (microseconds)
float32 scale
uint8 samples # number of valid samples
int16[32] x # acceleration in the FRD board frame X-axis in m/s^2
int16[32] y # acceleration in the FRD board frame Y-axis in m/s^2
int16[32] z # acceleration in the FRD board frame Z-axis in m/s^2
msg/sensor_gyro.msg
+2 -4
View File
@@ -7,12 +7,10 @@ float32 x # angular velocity in the FRD board frame X-axis in ra
float32 y # angular velocity in the FRD board frame Y-axis in rad/s
float32 z # angular velocity in the FRD board frame Z-axis in rad/s
float32 range # dynamic range in rad/s
float32 temperature # temperature in degrees Celsius
uint32 error_count
uint8[3] clip_counter # clip count per axis in the sample period
uint8 samples # number of raw samples that went into this message
uint8 ORB_QUEUE_LENGTH = 8
msg/sensor_gyro_fifo.msg
-15
View File
@@ -1,15 +0,0 @@
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample
uint32 device_id # unique device ID for the sensor that does not change between power cycles
float32 dt # delta time between samples (microseconds)
float32 scale
uint8 samples # number of valid samples
int16[32] x # angular velocity in the FRD board frame X-axis in rad/s
int16[32] y # angular velocity in the FRD board frame Y-axis in rad/s
int16[32] z # angular velocity in the FRD board frame Z-axis in rad/s
uint8 ORB_QUEUE_LENGTH = 4
msg/sensor_imu_fifo.msg
+26
View File
@@ -0,0 +1,26 @@
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample
uint32 device_id # unique device ID for the sensor that does not change between power cycles
float32 dt # delta time between samples (microseconds)
uint8 samples # number of valid samples
float32 accel_scale
float32 gyro_scale
uint8 FIFO_SIZE = 24
int16[24] accel_x # gyro in the FRD board frame X-axis
int16[24] accel_y # gyro in the FRD board frame Y-axis
int16[24] accel_z # gyro in the FRD board frame Z-axis
int16[24] gyro_x # gyro in the FRD board frame X-axis
int16[24] gyro_y # gyro in the FRD board frame Y-axis
int16[24] gyro_z # gyro in the FRD board frame Z-axis
float32 temperature # temperature in degrees Celsius
uint32 error_count
uint8 ORB_QUEUE_LENGTH = 8