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sensors: create vehicle_acceleration module (#12597)

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This commit is contained in:
Daniel Agar
2019-08-07 05:05:48 -04:00
committed by GitHub
parent 50fbb56737
commit a917f22b65
25 changed files with 492 additions and 138 deletions
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src/modules/landing_target_estimator/LandingTargetEstimator.cpp
+3 -6
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@@ -80,14 +80,11 @@ void LandingTargetEstimator::update()
float dt = (hrt_absolute_time() - _last_predict) / SEC2USEC;
// predict target position with the help of accel data
matrix::Vector3f a;
matrix::Vector3f a{_vehicle_acceleration.xyz};
if (_vehicleAttitude_valid && _sensorBias_valid) {
if (_vehicleAttitude_valid && _vehicle_acceleration_valid) {
matrix::Quaternion<float> q_att(&_vehicleAttitude.q[0]);
_R_att = matrix::Dcm<float>(q_att);
a(0) = _sensorBias.accel_x;
a(1) = _sensorBias.accel_y;
a(2) = _sensorBias.accel_z;
a = _R_att * a;
} else {
@@ -244,7 +241,7 @@ void LandingTargetEstimator::_update_topics()
{
_vehicleLocalPosition_valid = _vehicleLocalPositionSub.update(&_vehicleLocalPosition);
_vehicleAttitude_valid = _attitudeSub.update(&_vehicleAttitude);
_sensorBias_valid = _sensorBiasSub.update(&_sensorBias);
_vehicle_acceleration_valid = _vehicle_acceleration_sub.update(&_vehicle_acceleration);
_new_irlockReport = _irlockReportSub.update(&_irlockReport);
}