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sensor accel/gyro message cleanup

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- split out integrated data into new standalone messages (sensor_accel_integrated and sensor_gyro_integrated)
 - publish sensor_gyro at full rate and remove sensor_gyro_control
 - limit sensor status publications to 10 Hz
 - remove unused accel/gyro raw ADC fields
 - add device IDs to sensor_bias and sensor_correction
    - vehicle_angular_velocity/vehicle_acceleration: check device ids before using bias and corrections
This commit is contained in:
Daniel Agar
2020-01-18 01:15:00 -05:00
committed by GitHub
parent 1d932f6ec9
commit bb465ca5b7
34 changed files with 696 additions and 756 deletions
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src/modules/mavlink/mavlink_receiver.cpp
-12
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@@ -2088,9 +2088,6 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
sensor_gyro_s gyro{};
gyro.timestamp = timestamp;
gyro.x_raw = imu.xgyro * 1000.0f;
gyro.y_raw = imu.ygyro * 1000.0f;
gyro.z_raw = imu.zgyro * 1000.0f;
gyro.x = imu.xgyro;
gyro.y = imu.ygyro;
gyro.z = imu.zgyro;
@@ -2104,9 +2101,6 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
sensor_accel_s accel{};
accel.timestamp = timestamp;
accel.x_raw = imu.xacc / (CONSTANTS_ONE_G / 1000.0f);
accel.y_raw = imu.yacc / (CONSTANTS_ONE_G / 1000.0f);
accel.z_raw = imu.zacc / (CONSTANTS_ONE_G / 1000.0f);
accel.x = imu.xacc;
accel.y = imu.yacc;
accel.z = imu.zacc;
@@ -2507,9 +2501,6 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
sensor_accel_s accel{};
accel.timestamp = timestamp;
accel.x_raw = hil_state.xacc / CONSTANTS_ONE_G * 1e3f;
accel.y_raw = hil_state.yacc / CONSTANTS_ONE_G * 1e3f;
accel.z_raw = hil_state.zacc / CONSTANTS_ONE_G * 1e3f;
accel.x = hil_state.xacc;
accel.y = hil_state.yacc;
accel.z = hil_state.zacc;
@@ -2523,9 +2514,6 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
sensor_gyro_s gyro{};
gyro.timestamp = timestamp;
gyro.x_raw = hil_state.rollspeed * 1e3f;
gyro.y_raw = hil_state.pitchspeed * 1e3f;
gyro.z_raw = hil_state.yawspeed * 1e3f;
gyro.x = hil_state.rollspeed;
gyro.y = hil_state.pitchspeed;
gyro.z = hil_state.yawspeed;