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vehicle_imu/vehicle_magnetometer add calibration indicator to message

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- vehicle_imu/vehicle_magnetometer add monotonically increasing `calibration_count` field so that downstream subscribers are aware of calibration changes
This commit is contained in:
Daniel Agar
2020-09-15 13:12:57 -04:00
committed by GitHub
parent 87471a988d
commit c41f053c7b
10 changed files with 79 additions and 10 deletions
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src/modules/sensors/vehicle_imu/VehicleIMU.cpp
+1
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@@ -379,6 +379,7 @@ void VehicleIMU::Run()
imu.delta_angle_dt = gyro_integral_dt;
imu.delta_velocity_dt = accel_integral_dt;
imu.delta_velocity_clipping = _delta_velocity_clipping;
imu.calibration_count = _accel_calibration.calibration_count() + _gyro_calibration.calibration_count();
imu.timestamp = hrt_absolute_time();
_vehicle_imu_pub.publish(imu);
}
src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp
+1
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@@ -357,6 +357,7 @@ void VehicleMagnetometer::Publish(uint8_t instance, bool multi)
out.timestamp_sample = timestamp_sample;
out.device_id = _calibration[instance].device_id();
magnetometer_data.copyTo(out.magnetometer_ga);
out.calibration_count = _calibration[instance].calibration_count();
out.timestamp = hrt_absolute_time();