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Removed stupid sensor counter, replaced it with much more useful timestamps

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Lorenz Meier
2014-03-16 13:47:26 +01:00
parent eccbccb826
commit 717e1bd374
6 changed files with 43 additions and 51 deletions
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src/modules/sensors/sensors.cpp
+5 -5
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@@ -940,7 +940,7 @@ Sensors::accel_poll(struct sensor_combined_s &raw)
raw.accelerometer_raw[1] = accel_report.y_raw;
raw.accelerometer_raw[2] = accel_report.z_raw;
raw.accelerometer_counter++;
raw.accelerometer_timestamp = accel_report.timestamp;
}
}
@@ -966,7 +966,7 @@ Sensors::gyro_poll(struct sensor_combined_s &raw)
raw.gyro_raw[1] = gyro_report.y_raw;
raw.gyro_raw[2] = gyro_report.z_raw;
raw.gyro_counter++;
raw.timestamp = gyro_report.timestamp;
}
}
@@ -996,7 +996,7 @@ Sensors::mag_poll(struct sensor_combined_s &raw)
raw.magnetometer_raw[1] = mag_report.y_raw;
raw.magnetometer_raw[2] = mag_report.z_raw;
raw.magnetometer_counter++;
raw.magnetometer_timestamp = mag_report.timestamp;
}
}
@@ -1014,7 +1014,7 @@ Sensors::baro_poll(struct sensor_combined_s &raw)
raw.baro_alt_meter = _barometer.altitude; // Altitude in meters
raw.baro_temp_celcius = _barometer.temperature; // Temperature in degrees celcius
raw.baro_counter++;
raw.baro_timestamp = _barometer.timestamp;
}
}
@@ -1028,7 +1028,7 @@ Sensors::diff_pres_poll(struct sensor_combined_s &raw)
orb_copy(ORB_ID(differential_pressure), _diff_pres_sub, &_diff_pres);
raw.differential_pressure_pa = _diff_pres.differential_pressure_pa;
raw.differential_pressure_counter++;
raw.differential_pressure_timestamp = _diff_pres.timestamp;
_airspeed.indicated_airspeed_m_s = calc_indicated_airspeed(_diff_pres.differential_pressure_pa);
_airspeed.true_airspeed_m_s = calc_true_airspeed(_diff_pres.differential_pressure_pa + raw.baro_pres_mbar * 1e2f,