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sensors: add accel/gyro current priority to sensors_status_imu

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- later the sensor priorities (user configurable) can be factored into the estimator selection criteria
This commit is contained in:
Daniel Agar
2021-07-30 21:20:01 -04:00
parent b33fdf704b
commit 713a1d08a3
4 changed files with 29 additions and 1 deletions
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src/modules/sensors/voted_sensors_update.cpp
+2
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@@ -407,12 +407,14 @@ void VotedSensorsUpdate::sensorsPoll(sensor_combined_s &raw)
status.accel_device_ids[i] = _accel_device_id[i];
status.accel_inconsistency_m_s_s[i] = _accel_diff[i].norm();
status.accel_healthy[i] = (_accel.voter.get_sensor_state(i) == DataValidator::ERROR_FLAG_NO_ERROR);
status.accel_priority[i] = _accel.voter.get_sensor_priority(i);
}
if ((_gyro_device_id[i] != 0) && (_gyro.priority[i] > 0)) {
status.gyro_device_ids[i] = _gyro_device_id[i];
status.gyro_inconsistency_rad_s[i] = _gyro_diff[i].norm();
status.gyro_healthy[i] = (_gyro.voter.get_sensor_state(i) == DataValidator::ERROR_FLAG_NO_ERROR);
status.gyro_priority[i] = _gyro.voter.get_sensor_priority(i);
}
}