fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-15 18:21:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/mavlink_messages.cpp
+6 -8
View File
@@ -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];