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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/mavlink/mavlink_messages.cpp
+9 -9
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@@ -848,15 +848,15 @@ protected:
mavlink_highres_imu_t msg = {};
msg.time_usec = sensor.timestamp;
msg.xacc = sensor.accelerometer_m_s2[0] - bias.accel_x_bias;
msg.yacc = sensor.accelerometer_m_s2[1] - bias.accel_y_bias;
msg.zacc = sensor.accelerometer_m_s2[2] - bias.accel_z_bias;
msg.xgyro = sensor.gyro_rad[0] - bias.gyro_x_bias;
msg.ygyro = sensor.gyro_rad[1] - bias.gyro_y_bias;
msg.zgyro = sensor.gyro_rad[2] - bias.gyro_z_bias;
msg.xmag = magnetometer.magnetometer_ga[0] - bias.mag_x_bias;
msg.ymag = magnetometer.magnetometer_ga[1] - bias.mag_y_bias;
msg.zmag = magnetometer.magnetometer_ga[2] - bias.mag_z_bias;
msg.xacc = sensor.accelerometer_m_s2[0] - bias.accel_bias[0];
msg.yacc = sensor.accelerometer_m_s2[1] - bias.accel_bias[1];
msg.zacc = sensor.accelerometer_m_s2[2] - bias.accel_bias[2];
msg.xgyro = sensor.gyro_rad[0] - bias.gyro_bias[0];
msg.ygyro = sensor.gyro_rad[1] - bias.gyro_bias[1];
msg.zgyro = sensor.gyro_rad[2] - bias.gyro_bias[2];
msg.xmag = magnetometer.magnetometer_ga[0] - bias.mag_bias[0];
msg.ymag = magnetometer.magnetometer_ga[1] - bias.mag_bias[1];
msg.zmag = magnetometer.magnetometer_ga[2] - bias.mag_bias[2];
msg.abs_pressure = air_data.baro_pressure_pa;
msg.diff_pressure = differential_pressure.differential_pressure_raw_pa;
msg.pressure_alt = air_data.baro_alt_meter;