fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-17 20:53:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

sensor messages remove unused fields and improve comments

Browse Source
This commit is contained in:
Daniel Agar
2018-07-29 21:04:21 +02:00
committed by Lorenz Meier
parent fc8a05f636
commit cc96e5ec5e
33 changed files with 57 additions and 128 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/imu/adis16448/adis16448.cpp
+1 -7
View File
@@ -1458,7 +1458,6 @@ ADIS16448::measure()
}
grb.scaling = _gyro_range_scale * M_PI_F / 180.0f;
grb.range_rad_s = _gyro_range_rad_s;
/* Accel report: */
arb.x_raw = report.accel_x;
@@ -1488,7 +1487,6 @@ ADIS16448::measure()
}
arb.scaling = _accel_range_scale;
arb.range_m_s2 = _accel_range_m_s2;
/* Mag report: */
mrb.x_raw = report.mag_x;
@@ -1518,14 +1516,10 @@ ADIS16448::measure()
}
mrb.scaling = _mag_range_scale / 1000.0f;
mrb.range_ga = _mag_range_mgauss / 1000.0f;
/* Temperature report: */
grb.temperature_raw = report.temp;
grb.temperature = (report.temp * 0.07386f) + 31.0f;
arb.temperature_raw = report.temp;
arb.temperature = (report.temp * 0.07386f) + 31.0f;
arb.temperature = grb.temperature;
matrix::Vector3f aval(x_in_new, y_in_new, z_in_new);
matrix::Vector3f aval_integrated;
src/drivers/imu/adis16477/ADIS16477.cpp
-4
View File
@@ -561,7 +561,6 @@ ADIS16477::publish_accel(const ADISReport &report)
arb.y_raw = report.accel_y;
arb.z_raw = report.accel_z;
arb.scaling = _accel_range_scale;
arb.range_m_s2 = _accel_range_m_s2;
float xraw_f = report.accel_x * _accel_range_scale;
float yraw_f = report.accel_y * _accel_range_scale;
@@ -588,7 +587,6 @@ ADIS16477::publish_accel(const ADISReport &report)
/* Temperature report: */
// temperature 1 LSB = 0.1°C
arb.temperature_raw = report.temp;
arb.temperature = report.temp * 0.1;
if (accel_notify) {
@@ -608,7 +606,6 @@ ADIS16477::publish_gyro(const ADISReport &report)
/* Gyro report: */
grb.scaling = math::radians(_gyro_range_scale);
grb.range_rad_s = _gyro_range_rad_s;
grb.x_raw = report.gyro_x;
grb.y_raw = report.gyro_y;
grb.z_raw = report.gyro_z;
@@ -639,7 +636,6 @@ ADIS16477::publish_gyro(const ADISReport &report)
/* Temperature report: */
// temperature 1 LSB = 0.1°C
grb.temperature_raw = report.temp;
grb.temperature = report.temp * 0.1f;
if (gyro_notify) {
src/drivers/imu/bma180/bma180.cpp
-1
View File
@@ -727,7 +727,6 @@ BMA180::measure()
report.y = ((report.y_raw * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
report.z = ((report.z_raw * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale;
report.scaling = _accel_range_scale;
report.range_m_s2 = _accel_range_m_s2;
_reports->force(&report);
src/drivers/imu/bmi055/BMI055_accel.cpp
-2
View File
@@ -779,11 +779,9 @@ BMI055_accel::measure()
arb.z_integral = aval_integrated(2);
arb.scaling = _accel_range_scale;
arb.range_m_s2 = _accel_range_m_s2;
_last_temperature = 23 + report.temp * 1.0f / 512.0f;
arb.temperature_raw = report.temp;
arb.temperature = _last_temperature;
arb.device_id = _device_id.devid;
src/drivers/imu/bmi055/BMI055_gyro.cpp
-2
View File
@@ -755,9 +755,7 @@ BMI055_gyro::measure()
grb.z_integral = gval_integrated(2);
grb.scaling = _gyro_range_scale;
grb.range_rad_s = _gyro_range_rad_s;
grb.temperature_raw = report.temp;
grb.temperature = _last_temperature;
grb.device_id = _device_id.devid;
src/drivers/imu/bmi160/bmi160.cpp
-4
View File
@@ -1186,11 +1186,9 @@ BMI160::measure()
arb.z_integral = aval_integrated(2);
arb.scaling = _accel_range_scale;
arb.range_m_s2 = _accel_range_m_s2;
_last_temperature = 23 + report.temp * 1.0f / 512.0f;
arb.temperature_raw = report.temp;
arb.temperature = _last_temperature;
/* return device ID */
@@ -1224,9 +1222,7 @@ BMI160::measure()
grb.z_integral = gval_integrated(2);
grb.scaling = _gyro_range_scale;
grb.range_rad_s = _gyro_range_rad_s;
grb.temperature_raw = report.temp;
grb.temperature = _last_temperature;
/* return device ID */
src/drivers/imu/fxas21002c/fxas21002c.cpp
-1
View File
@@ -1071,7 +1071,6 @@ FXAS21002C::measure()
gyro_report.z_integral = gval_integrated(2);
gyro_report.scaling = _gyro_range_scale;
gyro_report.range_rad_s = _gyro_range_rad_s;
/* return device ID */
gyro_report.device_id = _device_id.devid;
src/drivers/imu/fxos8701cq/fxos8701cq.cpp
-5
View File
@@ -1469,7 +1469,6 @@ FXOS8701CQ::measure()
accel_report.z_integral = aval_integrated(2);
accel_report.scaling = _accel_range_scale;
accel_report.range_m_s2 = _accel_range_m_s2;
/* return device ID */
accel_report.device_id = _device_id.devid;
@@ -1535,7 +1534,6 @@ FXOS8701CQ::mag_measure()
mag_report.y = ((yraw_f * _mag_range_scale) - _mag_scale.y_offset) * _mag_scale.y_scale;
mag_report.z = ((zraw_f * _mag_range_scale) - _mag_scale.z_offset) * _mag_scale.z_scale;
mag_report.scaling = _mag_range_scale;
mag_report.range_ga = (float)_mag_range_ga;
mag_report.error_count = perf_event_count(_bad_registers) + perf_event_count(_bad_values);
mag_report.temperature = _last_temperature;
@@ -1818,8 +1816,6 @@ test()
PX4_INFO("accel y: \t%d\traw", (int)accel_report.y_raw);
PX4_INFO("accel z: \t%d\traw", (int)accel_report.z_raw);
PX4_INFO("accel range: %8.4f m/s^2", (double)accel_report.range_m_s2);
/* get the driver */
fd_mag = open(FXOS8701C_DEVICE_PATH_MAG, O_RDONLY);
@@ -1850,7 +1846,6 @@ test()
PX4_INFO("mag x: \t%d\traw", (int)m_report.x_raw);
PX4_INFO("mag y: \t%d\traw", (int)m_report.y_raw);
PX4_INFO("mag z: \t%d\traw", (int)m_report.z_raw);
PX4_INFO("mag range: %8.4f ga", (double)m_report.range_ga);
/* reset to default polling */
if (ioctl(fd_accel, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
src/drivers/imu/l3gd20/l3gd20.cpp
-3
View File
@@ -1015,8 +1015,6 @@ L3GD20::measure()
report.z_raw = raw_report.z;
report.temperature_raw = raw_report.temp;
float xraw_f = report.x_raw;
float yraw_f = report.y_raw;
float zraw_f = report.z_raw;
@@ -1043,7 +1041,6 @@ L3GD20::measure()
report.temperature = L3GD20_TEMP_OFFSET_CELSIUS - raw_report.temp;
report.scaling = _gyro_range_scale;
report.range_rad_s = _gyro_range_rad_s;
/* return device ID */
report.device_id = _device_id.devid;
src/drivers/imu/lsm303d/lsm303d.cpp
-2
View File
@@ -1577,7 +1577,6 @@ LSM303D::measure()
accel_report.z_integral = aval_integrated(2);
accel_report.scaling = _accel_range_scale;
accel_report.range_m_s2 = _accel_range_m_s2;
/* return device ID */
accel_report.device_id = _device_id.devid;
@@ -1658,7 +1657,6 @@ LSM303D::mag_measure()
mag_report.y = ((yraw_f * _mag_range_scale) - _mag_scale.y_offset) * _mag_scale.y_scale;
mag_report.z = ((zraw_f * _mag_range_scale) - _mag_scale.z_offset) * _mag_scale.z_scale;
mag_report.scaling = _mag_range_scale;
mag_report.range_ga = (float)_mag_range_ga;
mag_report.error_count = perf_event_count(_bad_registers) + perf_event_count(_bad_values);
/* remember the temperature. The datasheet isn't clear, but it
src/drivers/imu/mpu6000/mpu6000.cpp
+1 -6
View File
@@ -1970,6 +1970,7 @@ MPU6000::measure()
/* NOTE: Axes have been swapped to match the board a few lines above. */
arb.scaling = _accel_range_scale;
arb.x_raw = report.accel_x;
arb.y_raw = report.accel_y;
arb.z_raw = report.accel_z;
@@ -1997,9 +1998,6 @@ MPU6000::measure()
arb.y_integral = aval_integrated(1);
arb.z_integral = aval_integrated(2);
arb.scaling = _accel_range_scale;
arb.range_m_s2 = _accel_range_m_s2;
if (is_icm_device()) { // if it is an ICM20608
_last_temperature = (report.temp) / 326.8f + 25.0f;
@@ -2007,7 +2005,6 @@ MPU6000::measure()
_last_temperature = (report.temp) / 361.0f + 35.0f;
}
arb.temperature_raw = report.temp;
arb.temperature = _last_temperature;
/* return device ID */
@@ -2041,9 +2038,7 @@ MPU6000::measure()
grb.z_integral = gval_integrated(2);
grb.scaling = _gyro_range_scale;
grb.range_rad_s = _gyro_range_rad_s;
grb.temperature_raw = report.temp;
grb.temperature = _last_temperature;
/* return device ID */
src/drivers/imu/mpu9250/mag.cpp
-1
View File
@@ -225,7 +225,6 @@ MPU9250_mag::_measure(struct ak8963_regs data)
mrb.x = ((xraw_f * _mag_range_scale * _mag_asa_x) - _mag_scale.x_offset) * _mag_scale.x_scale;
mrb.y = ((yraw_f * _mag_range_scale * _mag_asa_y) - _mag_scale.y_offset) * _mag_scale.y_scale;
mrb.z = ((zraw_f * _mag_range_scale * _mag_asa_z) - _mag_scale.z_offset) * _mag_scale.z_scale;
mrb.range_ga = 48.0f;
mrb.scaling = _mag_range_scale;
mrb.temperature = _parent->_last_temperature;
mrb.device_id = _parent->_mag->_device_id.devid;
src/drivers/imu/mpu9250/mpu9250.cpp
-4
View File
@@ -1437,11 +1437,9 @@ MPU9250::measure()
arb.z_integral = aval_integrated(2);
arb.scaling = _accel_range_scale;
arb.range_m_s2 = _accel_range_m_s2;
_last_temperature = (report.temp) / 361.0f + 35.0f;
arb.temperature_raw = report.temp;
arb.temperature = _last_temperature;
/* return device ID */
@@ -1475,9 +1473,7 @@ MPU9250::measure()
grb.z_integral = gval_integrated(2);
grb.scaling = _gyro_range_scale;
grb.range_rad_s = _gyro_range_rad_s;
grb.temperature_raw = report.temp;
grb.temperature = _last_temperature;
/* return device ID */
src/drivers/magnetometer/hmc5883/hmc5883.cpp
-1
View File
@@ -891,7 +891,6 @@ HMC5883::collect()
/* this should be fairly close to the end of the measurement, so the best approximation of the time */
new_report.timestamp = hrt_absolute_time();
new_report.error_count = perf_event_count(_comms_errors);
new_report.range_ga = _range_ga;
new_report.scaling = _range_scale;
new_report.device_id = _device_id.devid;
src/drivers/magnetometer/ist8310/ist8310.cpp
-1
View File
@@ -891,7 +891,6 @@ IST8310::collect()
new_report.timestamp = hrt_absolute_time();
new_report.is_external = sensor_is_external;
new_report.error_count = perf_event_count(_comms_errors);
new_report.range_ga = 1.6f; // constant for this sensor for x and y
new_report.scaling = _range_scale;
new_report.device_id = _device_id.devid;
src/drivers/magnetometer/lis3mdl/lis3mdl.cpp
-1
View File
@@ -372,7 +372,6 @@ LIS3MDL::collect()
new_mag_report.timestamp = hrt_absolute_time();
new_mag_report.error_count = perf_event_count(_comms_errors);
new_mag_report.range_ga = _range_ga;
new_mag_report.scaling = _range_scale;
new_mag_report.device_id = _device_id.devid;
src/drivers/magnetometer/lsm303agr/LSM303AGR.cpp
-1
View File
@@ -479,7 +479,6 @@ LSM303AGR::collect()
mag_report.y = ((yraw_f * _mag_range_scale) - _mag_scale.y_offset) * _mag_scale.y_scale;
mag_report.z = ((zraw_f * _mag_range_scale) - _mag_scale.z_offset) * _mag_scale.z_scale;
mag_report.scaling = _mag_range_scale;
mag_report.range_ga = _mag_range_ga;
mag_report.error_count = perf_event_count(_bad_registers) + perf_event_count(_bad_values);
/* remember the temperature. The datasheet isn't clear, but it