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sensor_combined: replace accel & gyro integral with value, use float for dt

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Reason: the value is easier to read & handle (for example plotting). In
most places the value is needed, not the integral.

Note that this breaks the replay format for sdlog2 replay
This commit is contained in:
Beat Küng
2016-07-07 11:35:50 +02:00
committed by Lorenz Meier
parent 8e136779ec
commit 9c73eae941
19 changed files with 154 additions and 202 deletions
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src/examples/px4_simple_app/px4_simple_app.c
+6 -9
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@@ -101,18 +101,15 @@ int px4_simple_app_main(int argc, char *argv[])
struct sensor_combined_s raw;
/* copy sensors raw data into local buffer */
orb_copy(ORB_ID(sensor_combined), sensor_sub_fd, &raw);
float sensor_accel[3];
float accel_dt = raw.accelerometer_integral_dt / 1.e6f;
sensor_accel[0] = raw.accelerometer_integral_m_s[0] / accel_dt;
sensor_accel[1] = raw.accelerometer_integral_m_s[1] / accel_dt;
sensor_accel[2] = raw.accelerometer_integral_m_s[2] / accel_dt;
PX4_WARN("[px4_simple_app] Accelerometer:\t%8.4f\t%8.4f\t%8.4f",
(double)sensor_accel[0], (double)sensor_accel[1], (double)sensor_accel[2]);
(double)raw.accelerometer_m_s2[0],
(double)raw.accelerometer_m_s2[1],
(double)raw.accelerometer_m_s2[2]);
/* set att and publish this information for other apps */
att.roll = sensor_accel[0];
att.pitch = sensor_accel[1];
att.yaw = sensor_accel[2];
att.roll = raw.accelerometer_m_s2[0];
att.pitch = raw.accelerometer_m_s2[1];
att.yaw = raw.accelerometer_m_s2[2];
orb_publish(ORB_ID(vehicle_attitude), att_pub, &att);
}