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sensors/vehicle_imu: incremental step towards multi-EKF

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This commit is contained in:
Daniel Agar
2020-01-22 18:04:29 -05:00
parent 0e90448e52
commit 697dbfb9f8
13 changed files with 611 additions and 79 deletions
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src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp
+18 -18
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@@ -58,14 +58,14 @@ public:
VehicleAngularVelocity();
~VehicleAngularVelocity() override;
void Run() override;
bool Start();
void Stop();
bool Start();
void Stop();
void PrintStatus();
void PrintStatus();
private:
void Run() override;
void ParametersUpdate(bool force = false);
void SensorBiasUpdate(bool force = false);
void SensorCorrectionsUpdate(bool force = false);
@@ -81,26 +81,26 @@ private:
(ParamFloat<px4::params::SENS_BOARD_Z_OFF>) _param_sens_board_z_off
)
uORB::Publication<vehicle_angular_velocity_s> _vehicle_angular_velocity_pub{ORB_ID(vehicle_angular_velocity)};
uORB::Publication<vehicle_angular_velocity_s> _vehicle_angular_velocity_pub{ORB_ID(vehicle_angular_velocity)};
uORB::Subscription _params_sub{ORB_ID(parameter_update)}; /**< parameter updates subscription */
uORB::Subscription _sensor_bias_sub{ORB_ID(sensor_bias)}; /**< sensor in-run bias correction subscription */
uORB::Subscription _sensor_correction_sub{ORB_ID(sensor_correction)}; /**< sensor thermal correction subscription */
uORB::Subscription _params_sub{ORB_ID(parameter_update)};
uORB::Subscription _sensor_bias_sub{ORB_ID(sensor_bias)};
uORB::Subscription _sensor_correction_sub{ORB_ID(sensor_correction)};
uORB::SubscriptionCallbackWorkItem _sensor_selection_sub{this, ORB_ID(sensor_selection)}; /**< selected primary sensor subscription */
uORB::SubscriptionCallbackWorkItem _sensor_sub[MAX_SENSOR_COUNT] { /**< sensor data subscription */
uORB::SubscriptionCallbackWorkItem _sensor_selection_sub{this, ORB_ID(sensor_selection)};
uORB::SubscriptionCallbackWorkItem _sensor_sub[MAX_SENSOR_COUNT] {
{this, ORB_ID(sensor_gyro), 0},
{this, ORB_ID(sensor_gyro), 1},
{this, ORB_ID(sensor_gyro), 2}
};
matrix::Dcmf _board_rotation; /**< rotation matrix for the orientation that the board is mounted */
matrix::Dcmf _board_rotation;
matrix::Vector3f _bias{0.f, 0.f, 0.f};
matrix::Vector3f _offset{0.f, 0.f, 0.f};
matrix::Vector3f _scale{1.f, 1.f, 1.f};
matrix::Vector3f _bias{0.f, 0.f, 0.f};
matrix::Vector3f _offset{0.f, 0.f, 0.f};
matrix::Vector3f _scale{1.f, 1.f, 1.f};
uint32_t _selected_sensor_device_id{0};
uint8_t _selected_sensor_sub_index{0};
int8_t _corrections_selected_instance{-1};
uint32_t _selected_sensor_device_id{0};
uint8_t _selected_sensor_sub_index{0};
int8_t _corrections_selected_instance{-1};
};