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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/modules/mavlink/mavlink_messages.cpp
+6 -8
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@@ -752,14 +752,12 @@ protected:
mavlink_highres_imu_t msg;
msg.time_usec = sensor.timestamp;
float accel_dt = sensor.accelerometer_integral_dt / 1.e6f;
msg.xacc = sensor.accelerometer_integral_m_s[0] / accel_dt;
msg.yacc = sensor.accelerometer_integral_m_s[1] / accel_dt;
msg.zacc = sensor.accelerometer_integral_m_s[2] / accel_dt;
float gyro_dt = sensor.gyro_integral_dt / 1.e6f;
msg.xgyro = sensor.gyro_integral_rad[0] / gyro_dt;
msg.ygyro = sensor.gyro_integral_rad[1] / gyro_dt;
msg.zgyro = sensor.gyro_integral_rad[2] / gyro_dt;
msg.xacc = sensor.accelerometer_m_s2[0];
msg.yacc = sensor.accelerometer_m_s2[1];
msg.zacc = sensor.accelerometer_m_s2[2];
msg.xgyro = sensor.gyro_rad[0];
msg.ygyro = sensor.gyro_rad[1];
msg.zgyro = sensor.gyro_rad[2];
msg.xmag = sensor.magnetometer_ga[0];
msg.ymag = sensor.magnetometer_ga[1];
msg.zmag = sensor.magnetometer_ga[2];
src/modules/mavlink/mavlink_receiver.cpp
+8 -8
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@@ -1673,22 +1673,22 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
{
struct sensor_combined_s hil_sensors = {};
hil_sensors.gyro_integral_rad[0] = 0.5f * (imu.xgyro + _hil_prev_gyro[0]) * dt;
hil_sensors.gyro_integral_rad[1] = 0.5f * (imu.ygyro + _hil_prev_gyro[1]) * dt;
hil_sensors.gyro_integral_rad[2] = 0.5f * (imu.zgyro + _hil_prev_gyro[2]) * dt;
hil_sensors.gyro_rad[0] = 0.5f * (imu.xgyro + _hil_prev_gyro[0]);
hil_sensors.gyro_rad[1] = 0.5f * (imu.ygyro + _hil_prev_gyro[1]);
hil_sensors.gyro_rad[2] = 0.5f * (imu.zgyro + _hil_prev_gyro[2]);
_hil_prev_gyro[0] = imu.xgyro;
_hil_prev_gyro[1] = imu.ygyro;
_hil_prev_gyro[2] = imu.zgyro;
hil_sensors.gyro_integral_dt = dt * 1e6f;
hil_sensors.gyro_integral_dt = dt;
hil_sensors.timestamp = timestamp;
hil_sensors.accelerometer_integral_m_s[0] = 0.5f * (imu.xacc + _hil_prev_accel[0]) * dt;
hil_sensors.accelerometer_integral_m_s[1] = 0.5f * (imu.yacc + _hil_prev_accel[1]) * dt;
hil_sensors.accelerometer_integral_m_s[2] = 0.5f * (imu.zacc + _hil_prev_accel[2]) * dt;
hil_sensors.accelerometer_m_s2[0] = 0.5f * (imu.xacc + _hil_prev_accel[0]);
hil_sensors.accelerometer_m_s2[1] = 0.5f * (imu.yacc + _hil_prev_accel[1]);
hil_sensors.accelerometer_m_s2[2] = 0.5f * (imu.zacc + _hil_prev_accel[2]);
_hil_prev_accel[0] = imu.xacc;
_hil_prev_accel[1] = imu.yacc;
_hil_prev_accel[2] = imu.zacc;
hil_sensors.accelerometer_integral_dt = dt * 1e6f;
hil_sensors.accelerometer_integral_dt = dt;
hil_sensors.accelerometer_timestamp_relative = 0;
hil_sensors.magnetometer_ga[0] = imu.xmag;