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Merge remote-tracking branch 'upstream/master' into ros_messagelayer_merge2_attctrl_posctrl

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Conflicts:
	src/drivers/px4fmu/fmu.cpp
This commit is contained in:
Thomas Gubler
2015-02-01 11:06:47 +01:00
parent 7c958a2cca a2a244584e
commit 84ff3c671d
63 changed files with 807 additions and 484 deletions
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src/modules/sensors/sensors.cpp
+22 -22
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@@ -1113,7 +1113,7 @@ Sensors::accel_poll(struct sensor_combined_s &raw)
if (accel_updated) {
struct accel_report accel_report;
orb_copy(ORB_ID(sensor_accel0), _accel_sub, &accel_report);
orb_copy(ORB_ID(sensor_accel), _accel_sub, &accel_report);
math::Vector<3> vect(accel_report.x, accel_report.y, accel_report.z);
vect = _board_rotation * vect;
@@ -1134,7 +1134,7 @@ Sensors::accel_poll(struct sensor_combined_s &raw)
if (accel_updated) {
struct accel_report accel_report;
orb_copy(ORB_ID(sensor_accel1), _accel_sub, &accel_report);
orb_copy(ORB_ID(sensor_accel), _accel1_sub, &accel_report);
math::Vector<3> vect(accel_report.x, accel_report.y, accel_report.z);
vect = _board_rotation * vect;
@@ -1155,7 +1155,7 @@ Sensors::accel_poll(struct sensor_combined_s &raw)
if (accel_updated) {
struct accel_report accel_report;
orb_copy(ORB_ID(sensor_accel2), _accel_sub, &accel_report);
orb_copy(ORB_ID(sensor_accel), _accel2_sub, &accel_report);
math::Vector<3> vect(accel_report.x, accel_report.y, accel_report.z);
vect = _board_rotation * vect;
@@ -1181,7 +1181,7 @@ Sensors::gyro_poll(struct sensor_combined_s &raw)
if (gyro_updated) {
struct gyro_report gyro_report;
orb_copy(ORB_ID(sensor_gyro0), _gyro_sub, &gyro_report);
orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &gyro_report);
math::Vector<3> vect(gyro_report.x, gyro_report.y, gyro_report.z);
vect = _board_rotation * vect;
@@ -1202,7 +1202,7 @@ Sensors::gyro_poll(struct sensor_combined_s &raw)
if (gyro_updated) {
struct gyro_report gyro_report;
orb_copy(ORB_ID(sensor_gyro1), _gyro1_sub, &gyro_report);
orb_copy(ORB_ID(sensor_gyro), _gyro1_sub, &gyro_report);
math::Vector<3> vect(gyro_report.x, gyro_report.y, gyro_report.z);
vect = _board_rotation * vect;
@@ -1223,7 +1223,7 @@ Sensors::gyro_poll(struct sensor_combined_s &raw)
if (gyro_updated) {
struct gyro_report gyro_report;
orb_copy(ORB_ID(sensor_gyro2), _gyro_sub, &gyro_report);
orb_copy(ORB_ID(sensor_gyro), _gyro2_sub, &gyro_report);
math::Vector<3> vect(gyro_report.x, gyro_report.y, gyro_report.z);
vect = _board_rotation * vect;
@@ -1249,7 +1249,7 @@ Sensors::mag_poll(struct sensor_combined_s &raw)
if (mag_updated) {
struct mag_report mag_report;
orb_copy(ORB_ID(sensor_mag0), _mag_sub, &mag_report);
orb_copy(ORB_ID(sensor_mag), _mag_sub, &mag_report);
math::Vector<3> vect(mag_report.x, mag_report.y, mag_report.z);
@@ -1278,7 +1278,7 @@ Sensors::mag_poll(struct sensor_combined_s &raw)
if (mag_updated) {
struct mag_report mag_report;
orb_copy(ORB_ID(sensor_mag1), _mag1_sub, &mag_report);
orb_copy(ORB_ID(sensor_mag), _mag1_sub, &mag_report);
raw.magnetometer1_raw[0] = mag_report.x_raw;
raw.magnetometer1_raw[1] = mag_report.y_raw;
@@ -1292,7 +1292,7 @@ Sensors::mag_poll(struct sensor_combined_s &raw)
if (mag_updated) {
struct mag_report mag_report;
orb_copy(ORB_ID(sensor_mag2), _mag2_sub, &mag_report);
orb_copy(ORB_ID(sensor_mag), _mag2_sub, &mag_report);
raw.magnetometer2_raw[0] = mag_report.x_raw;
raw.magnetometer2_raw[1] = mag_report.y_raw;
@@ -1310,7 +1310,7 @@ Sensors::baro_poll(struct sensor_combined_s &raw)
if (baro_updated) {
orb_copy(ORB_ID(sensor_baro0), _baro_sub, &_barometer);
orb_copy(ORB_ID(sensor_baro), _baro_sub, &_barometer);
raw.baro_pres_mbar = _barometer.pressure; // Pressure in mbar
raw.baro_alt_meter = _barometer.altitude; // Altitude in meters
@@ -1325,7 +1325,7 @@ Sensors::baro_poll(struct sensor_combined_s &raw)
struct baro_report baro_report;
orb_copy(ORB_ID(sensor_baro1), _baro1_sub, &baro_report);
orb_copy(ORB_ID(sensor_baro), _baro1_sub, &baro_report);
raw.baro1_pres_mbar = baro_report.pressure; // Pressure in mbar
raw.baro1_alt_meter = baro_report.altitude; // Altitude in meters
@@ -1943,18 +1943,18 @@ Sensors::task_main()
/*
* do subscriptions
*/
_gyro_sub = orb_subscribe(ORB_ID(sensor_gyro0));
_accel_sub = orb_subscribe(ORB_ID(sensor_accel0));
_mag_sub = orb_subscribe(ORB_ID(sensor_mag0));
_gyro1_sub = orb_subscribe(ORB_ID(sensor_gyro1));
_accel1_sub = orb_subscribe(ORB_ID(sensor_accel1));
_mag1_sub = orb_subscribe(ORB_ID(sensor_mag1));
_gyro2_sub = orb_subscribe(ORB_ID(sensor_gyro2));
_accel2_sub = orb_subscribe(ORB_ID(sensor_accel2));
_mag2_sub = orb_subscribe(ORB_ID(sensor_mag2));
_gyro_sub = orb_subscribe_multi(ORB_ID(sensor_gyro), 0);
_accel_sub = orb_subscribe_multi(ORB_ID(sensor_accel), 0);
_mag_sub = orb_subscribe_multi(ORB_ID(sensor_mag), 0);
_gyro1_sub = orb_subscribe_multi(ORB_ID(sensor_gyro), 1);
_accel1_sub = orb_subscribe_multi(ORB_ID(sensor_accel), 1);
_mag1_sub = orb_subscribe_multi(ORB_ID(sensor_mag), 1);
_gyro2_sub = orb_subscribe_multi(ORB_ID(sensor_gyro), 2);
_accel2_sub = orb_subscribe_multi(ORB_ID(sensor_accel), 2);
_mag2_sub = orb_subscribe_multi(ORB_ID(sensor_mag), 2);
_rc_sub = orb_subscribe(ORB_ID(input_rc));
_baro_sub = orb_subscribe(ORB_ID(sensor_baro0));
_baro1_sub = orb_subscribe(ORB_ID(sensor_baro1));
_baro_sub = orb_subscribe_multi(ORB_ID(sensor_baro), 0);
_baro1_sub = orb_subscribe_multi(ORB_ID(sensor_baro), 1);
_diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure));
_vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
_params_sub = orb_subscribe(ORB_ID(parameter_update));