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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 21:04:21 +02:00
committed by Lorenz Meier
parent fc8a05f636
commit cc96e5ec5e
33 changed files with 57 additions and 128 deletions
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src/platforms/posix/drivers/df_ak8963_wrapper/df_ak8963_wrapper.cpp
-1
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@@ -297,7 +297,6 @@ int DfAK8963Wrapper::_publish(struct mag_sensor_data &data)
// TODO: get these right
//mag_report.scaling = -1.0f;
//mag_report.range_m_s2 = -1.0f;
mag_report.device_id = m_id.dev_id;
src/platforms/posix/drivers/df_hmc5883_wrapper/df_hmc5883_wrapper.cpp
-1
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@@ -297,7 +297,6 @@ int DfHmc5883Wrapper::_publish(struct mag_sensor_data &data)
// TODO: get these right
//mag_report.scaling = -1.0f;
//mag_report.range_m_s2 = -1.0f;
mag_report.device_id = m_id.dev_id;
src/platforms/posix/drivers/df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp
+1 -4
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@@ -570,7 +570,7 @@ int DfLsm9ds1Wrapper::_publish(struct imu_sensor_data &data)
}
matrix::Vector3f vec_integrated_unused;
uint64_t integral_dt_unused;
uint32_t integral_dt_unused;
matrix::Vector3f accel_val(data.accel_m_s2_x,
data.accel_m_s2_y,
data.accel_m_s2_z);
@@ -628,16 +628,13 @@ int DfLsm9ds1Wrapper::_publish(struct imu_sensor_data &data)
// TODO: get these right
gyro_report.scaling = -1.0f;
gyro_report.range_rad_s = -1.0f;
gyro_report.device_id = m_id.dev_id;
accel_report.scaling = -1.0f;
accel_report.range_m_s2 = -1.0f;
accel_report.device_id = m_id.dev_id;
if (_mag_enabled) {
mag_report.scaling = -1.0f;
mag_report.range_ga = -1.0f;
mag_report.device_id = m_id.dev_id;
}
src/platforms/posix/drivers/df_mpu6050_wrapper/df_mpu6050_wrapper.cpp
+1 -3
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@@ -432,7 +432,7 @@ int DfMPU6050Wrapper::_publish(struct imu_sensor_data &data)
uint64_t now = hrt_absolute_time();
matrix::Vector3f vec_integrated_unused;
uint64_t integral_dt_unused;
uint32_t integral_dt_unused;
matrix::Vector3f accel_val(data.accel_m_s2_x, data.accel_m_s2_y, data.accel_m_s2_z);
@@ -495,11 +495,9 @@ int DfMPU6050Wrapper::_publish(struct imu_sensor_data &data)
// TODO: get these right
gyro_report.scaling = -1.0f;
gyro_report.range_rad_s = -1.0f;
gyro_report.device_id = m_id.dev_id;
accel_report.scaling = -1.0f;
accel_report.range_m_s2 = -1.0f;
accel_report.device_id = m_id.dev_id;
// TODO: remove these (or get the values)
src/platforms/posix/drivers/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp
-3
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@@ -706,11 +706,9 @@ int DfMpu9250Wrapper::_publish(struct imu_sensor_data &data)
// TODO: get these right
gyro_report.scaling = -1.0f;
gyro_report.range_rad_s = -1.0f;
gyro_report.device_id = m_id.dev_id;
accel_report.scaling = -1.0f;
accel_report.range_m_s2 = -1.0f;
accel_report.device_id = m_id.dev_id;
if (_mag_enabled) {
@@ -718,7 +716,6 @@ int DfMpu9250Wrapper::_publish(struct imu_sensor_data &data)
mag_report.is_external = false;
mag_report.scaling = -1.0f;
mag_report.range_ga = -1.0f;
mag_report.device_id = m_id.dev_id;
xraw_f = data.mag_ga_x;
src/platforms/qurt/fc_addon/mpu_spi/mpu9x50_main.cpp
-5
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@@ -405,31 +405,26 @@ void update_reports()
_gyro.y = ((_data.gyro_raw[1] * _data.gyro_scaling) - _gyro_sc.y_offset) * _gyro_sc.y_scale;
_gyro.z = ((_data.gyro_raw[2] * _data.gyro_scaling) - _gyro_sc.z_offset) * _gyro_sc.z_scale;
_gyro.temperature = _data.temperature;
_gyro.range_rad_s = _data.gyro_range_rad_s;
_gyro.scaling = _data.gyro_scaling;
_gyro.x_raw = _data.gyro_raw[0];
_gyro.y_raw = _data.gyro_raw[1];
_gyro.z_raw = _data.gyro_raw[2];
_gyro.temperature_raw = _data.temperature_raw;
_accel.timestamp = _data.timestamp;
_accel.x = ((_data.accel_raw[0] * _data.accel_scaling) - _accel_sc.x_offset) * _accel_sc.x_scale;
_accel.y = ((_data.accel_raw[1] * _data.accel_scaling) - _accel_sc.y_offset) * _accel_sc.y_scale;
_accel.z = ((_data.accel_raw[2] * _data.accel_scaling) - _accel_sc.z_offset) * _accel_sc.z_scale;
_accel.temperature = _data.temperature;
_accel.range_m_s2 = _data.accel_range_m_s2;
_accel.scaling = _data.accel_scaling;
_accel.x_raw = _data.accel_raw[0];
_accel.y_raw = _data.accel_raw[1];
_accel.z_raw = _data.accel_raw[2];
_accel.temperature_raw = _data.temperature_raw;
if (_data.mag_data_ready) {
_mag.timestamp = _data.timestamp;
_mag.x = ((_data.mag_raw[0] * _data.mag_scaling) - _mag_sc.x_offset) * _mag_sc.x_scale;
_mag.y = ((_data.mag_raw[1] * _data.mag_scaling) - _mag_sc.y_offset) * _mag_sc.y_scale;
_mag.z = ((_data.mag_raw[2] * _data.mag_scaling) - _mag_sc.z_offset) * _mag_sc.z_scale;
_mag.range_ga = _data.mag_range_ga;
_mag.scaling = _data.mag_scaling;
_mag.temperature = _data.temperature;
_mag.x_raw = _data.mag_raw[0];