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sensor_combined cleanup: remove many unneeded fields

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Decreases the message size from 780 to 280 bytes.
In particular, all modules using sensor_combined must use the integral now.
The sensor value can easily be reconstructed by dividing with dt.

Voters now need to be moved into sensors module, because error count and
priority is removed from the topic.

Any module that requires additional data from a sensor can subscribe to
the raw sensor topics.

At two places, values are set to zero instead of subscribing to the raw
sensors (with the assumption that no one reads them):
- mavlink mavlink_highres_imu_t::abs_pressure
- sdlog2: sensor temperatures
This commit is contained in:
Beat Küng
2016-07-07 11:35:50 +02:00
committed by Lorenz Meier
parent c407123a72
commit b4ecc5a8d9
16 changed files with 216 additions and 272 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+6 -2
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@@ -1230,7 +1230,11 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
float eas2tas = 1.0f; // XXX calculate actual number based on current measurements
/* filter speed and altitude for controller */
math::Vector<3> accel_body(_sensor_combined.accelerometer_m_s2);
math::Vector<3> accel_body;
float accel_dt = _sensor_combined.accelerometer_integral_dt[0] / 1.e6f;
accel_body(0) = _sensor_combined.accelerometer_integral_m_s[0] / accel_dt;
accel_body(1) = _sensor_combined.accelerometer_integral_m_s[1] / accel_dt;
accel_body(2) = _sensor_combined.accelerometer_integral_m_s[2] / accel_dt;
math::Vector<3> accel_earth = _R_nb * accel_body;
/* tell TECS to update its state, but let it know when it cannot actually control the plane */
@@ -1703,7 +1707,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
}
/* Detect launch */
launchDetector.update(_sensor_combined.accelerometer_m_s2[0]);
launchDetector.update(accel_body(0));
/* update our copy of the launch detection state */
launch_detection_state = launchDetector.getLaunchDetected();