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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/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp
+10 -20
View File
@@ -49,7 +49,6 @@
#include <uORB/topics/sensor_selection.h>
#include <uORB/topics/sensor_gyro.h>
#include <uORB/topics/sensor_gyro_control.h>
#include <uORB/topics/vehicle_angular_velocity.h>
class VehicleAngularVelocity : public ModuleParams, public px4::WorkItem
@@ -57,7 +56,7 @@ class VehicleAngularVelocity : public ModuleParams, public px4::WorkItem
public:
VehicleAngularVelocity();
virtual ~VehicleAngularVelocity();
~VehicleAngularVelocity() override;
void Run() override;
@@ -67,10 +66,10 @@ public:
void PrintStatus();
private:
void ParametersUpdate(bool force = false);
void SensorBiasUpdate(bool force = false);
bool SensorCorrectionsUpdate(bool force = false);
void ParametersUpdate(bool force = false);
void SensorBiasUpdate(bool force = false);
void SensorCorrectionsUpdate(bool force = false);
bool SensorSelectionUpdate(bool force = false);
static constexpr int MAX_SENSOR_COUNT = 3;
@@ -89,28 +88,19 @@ private:
uORB::Subscription _sensor_correction_sub{ORB_ID(sensor_correction)}; /**< sensor thermal correction subscription */
uORB::SubscriptionCallbackWorkItem _sensor_selection_sub{this, ORB_ID(sensor_selection)}; /**< selected primary sensor subscription */
uORB::SubscriptionCallbackWorkItem _sensor_sub[MAX_SENSOR_COUNT] { /**< sensor data subscription */
{this, ORB_ID(sensor_gyro), 0},
{this, ORB_ID(sensor_gyro), 1},
{this, ORB_ID(sensor_gyro), 2}
};
uORB::SubscriptionCallbackWorkItem _sensor_control_sub[MAX_SENSOR_COUNT] { /**< sensor control data subscription */
{this, ORB_ID(sensor_gyro_control), 0},
{this, ORB_ID(sensor_gyro_control), 1},
{this, ORB_ID(sensor_gyro_control), 2}
};
matrix::Dcmf _board_rotation; /**< rotation matrix for the orientation that the board is mounted */
matrix::Vector3f _offset;
matrix::Vector3f _scale;
matrix::Vector3f _bias;
matrix::Vector3f _bias{0.f, 0.f, 0.f};
matrix::Vector3f _offset{0.f, 0.f, 0.f};
matrix::Vector3f _scale{1.f, 1.f, 1.f};
uint32_t _selected_sensor_device_id{0};
uint8_t _selected_sensor{0};
uint8_t _selected_sensor_control{0};
bool _sensor_control_available{false};
uint8_t _selected_sensor_sub_index{0};
int8_t _corrections_selected_instance{-1};
};