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sensor messages remove unused fields and improve comments

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This commit is contained in:
Daniel Agar
2018-07-29 12:22:29 -04:00
committed by Lorenz Meier
parent fc8a05f636
commit cc96e5ec5e
33 changed files with 57 additions and 128 deletions
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src/modules/simulator/accelsim/accelsim.cpp
-1
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@@ -861,7 +861,6 @@ ACCELSIM::_measure()
accel_report.z = raw_accel_report.z;
accel_report.scaling = _accel_range_scale;
accel_report.range_m_s2 = _accel_range_m_s2;
_accel_reports->force(&accel_report);
src/modules/simulator/gyrosim/gyrosim.cpp
-9
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@@ -1033,11 +1033,9 @@ GYROSIM::_measure()
arb.z_raw = (int16_t)(mpu_report.accel_z / _accel_range_scale);
arb.scaling = _accel_range_scale;
arb.range_m_s2 = _accel_range_m_s2;
_last_temperature = mpu_report.temp;
arb.temperature_raw = (int16_t)((mpu_report.temp - 35.0f) * 361.0f);
arb.temperature = _last_temperature;
arb.x = mpu_report.accel_x;
@@ -1060,9 +1058,7 @@ GYROSIM::_measure()
grb.z_raw = (int16_t)(mpu_report.gyro_z / _gyro_range_scale);
grb.scaling = _gyro_range_scale;
grb.range_rad_s = _gyro_range_rad_s;
grb.temperature_raw = (int16_t)((mpu_report.temp - 35.0f) * 361.0f);
grb.temperature = _last_temperature;
grb.x = mpu_report.gyro_x;
@@ -1322,8 +1318,6 @@ test()
PX4_INFO("acc x: \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw);
PX4_INFO("acc y: \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
PX4_INFO("acc z: \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
PX4_INFO("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
(double)(a_report.range_m_s2 / CONSTANTS_ONE_G));
/* do a simple demand read */
sz = h_gyro.read(&g_report, sizeof(g_report));
@@ -1340,11 +1334,8 @@ test()
PX4_INFO("gyro x: \t%d\traw", (int)g_report.x_raw);
PX4_INFO("gyro y: \t%d\traw", (int)g_report.y_raw);
PX4_INFO("gyro z: \t%d\traw", (int)g_report.z_raw);
PX4_INFO("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
(int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
PX4_INFO("temp: \t%8.4f\tdeg celsius", (double)a_report.temperature);
PX4_INFO("temp: \t%d\traw 0x%0x", (short)a_report.temperature_raw, (unsigned short)a_report.temperature_raw);
/* XXX add poll-rate tests here too */
src/modules/uavcan/sensors/mag.cpp
-1
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@@ -145,7 +145,6 @@ void UavcanMagnetometerBridge::mag_sub_cb(const
&msg)
{
lock();
_report.range_ga = 1.3F; // Arbitrary number, doesn't really mean anything
/*
* FIXME HACK
* This code used to rely on msg.getMonotonicTimestamp().toUSec() instead of HRT.