fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 00:13:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

merge vehicle_angular_acceleration into vehicle_angular_velocity (#20531)

Browse Source 
- vehicle_angular_velocity and vehicle_angular_acceleration are produced together from the same input data, consumed together, and share the the same metadata (timestamps)
 - individually these topics each have 16 bytes of metadata (2 timestamps) for 12 bytes of data (x,y,z float32)
This commit is contained in:
Daniel Agar
2022-11-14 11:03:59 -05:00
committed by GitHub
parent 7d1f1d0f84
commit 9e7db0ed54
13 changed files with 13 additions and 50 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
+4 -12
View File
@@ -46,7 +46,6 @@ VehicleAngularVelocity::VehicleAngularVelocity() :
ModuleParams(nullptr),
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl)
{
_vehicle_angular_acceleration_pub.advertise();
_vehicle_angular_velocity_pub.advertise();
}
@@ -918,17 +917,6 @@ bool VehicleAngularVelocity::CalibrateAndPublish(const hrt_abstime &timestamp_sa
{
if (timestamp_sample >= _last_publish + _publish_interval_min_us) {
// Publish vehicle_angular_acceleration
vehicle_angular_acceleration_s angular_acceleration;
angular_acceleration.timestamp_sample = timestamp_sample;
// Angular acceleration: rotate sensor frame to board, scale raw data to SI, apply any additional configured rotation
_angular_acceleration = _calibration.rotation() * angular_acceleration_uncalibrated;
_angular_acceleration.copyTo(angular_acceleration.xyz);
angular_acceleration.timestamp = hrt_absolute_time();
_vehicle_angular_acceleration_pub.publish(angular_acceleration);
// Publish vehicle_angular_velocity
vehicle_angular_velocity_s angular_velocity;
angular_velocity.timestamp_sample = timestamp_sample;
@@ -937,6 +925,10 @@ bool VehicleAngularVelocity::CalibrateAndPublish(const hrt_abstime &timestamp_sa
_angular_velocity = _calibration.Correct(angular_velocity_uncalibrated) - _bias;
_angular_velocity.copyTo(angular_velocity.xyz);
// Angular acceleration: rotate sensor frame to board, scale raw data to SI, apply any additional configured rotation
_angular_acceleration = _calibration.rotation() * angular_acceleration_uncalibrated;
_angular_acceleration.copyTo(angular_velocity.xyz_derivative);
angular_velocity.timestamp = hrt_absolute_time();
_vehicle_angular_velocity_pub.publish(angular_velocity);
src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp
-2
View File
@@ -55,7 +55,6 @@
#include <uORB/topics/sensor_gyro_fft.h>
#include <uORB/topics/sensor_gyro_fifo.h>
#include <uORB/topics/sensor_selection.h>
#include <uORB/topics/vehicle_angular_acceleration.h>
#include <uORB/topics/vehicle_angular_velocity.h>
using namespace time_literals;
@@ -99,7 +98,6 @@ private:
static constexpr int MAX_SENSOR_COUNT = 4;
uORB::Publication<vehicle_angular_acceleration_s> _vehicle_angular_acceleration_pub{ORB_ID(vehicle_angular_acceleration)};
uORB::Publication<vehicle_angular_velocity_s> _vehicle_angular_velocity_pub{ORB_ID(vehicle_angular_velocity)};
uORB::Subscription _estimator_selector_status_sub{ORB_ID(estimator_selector_status)};