fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-27 20:13:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'master' into offboard2

Browse Source
This commit is contained in:
Anton Babushkin
2014-03-30 00:25:26 +04:00
parent 0789189c05 9b1de5004c
commit d2553bfd29
160 changed files with 9948 additions and 6270 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/sensors/sensors.cpp
+10 -9
View File
@@ -936,7 +936,7 @@ Sensors::accel_poll(struct sensor_combined_s &raw)
raw.accelerometer_raw[1] = accel_report.y_raw;
raw.accelerometer_raw[2] = accel_report.z_raw;
raw.accelerometer_counter++;
raw.accelerometer_timestamp = accel_report.timestamp;
}
}
@@ -962,7 +962,7 @@ Sensors::gyro_poll(struct sensor_combined_s &raw)
raw.gyro_raw[1] = gyro_report.y_raw;
raw.gyro_raw[2] = gyro_report.z_raw;
raw.gyro_counter++;
raw.timestamp = gyro_report.timestamp;
}
}
@@ -992,7 +992,7 @@ Sensors::mag_poll(struct sensor_combined_s &raw)
raw.magnetometer_raw[1] = mag_report.y_raw;
raw.magnetometer_raw[2] = mag_report.z_raw;
raw.magnetometer_counter++;
raw.magnetometer_timestamp = mag_report.timestamp;
}
}
@@ -1010,7 +1010,7 @@ Sensors::baro_poll(struct sensor_combined_s &raw)
raw.baro_alt_meter = _barometer.altitude; // Altitude in meters
raw.baro_temp_celcius = _barometer.temperature; // Temperature in degrees celcius
raw.baro_counter++;
raw.baro_timestamp = _barometer.timestamp;
}
}
@@ -1024,10 +1024,12 @@ Sensors::diff_pres_poll(struct sensor_combined_s &raw)
orb_copy(ORB_ID(differential_pressure), _diff_pres_sub, &_diff_pres);
raw.differential_pressure_pa = _diff_pres.differential_pressure_pa;
raw.differential_pressure_counter++;
raw.differential_pressure_timestamp = _diff_pres.timestamp;
raw.differential_pressure_filtered_pa = _diff_pres.differential_pressure_filtered_pa;
_airspeed.indicated_airspeed_m_s = calc_indicated_airspeed(_diff_pres.differential_pressure_pa);
_airspeed.true_airspeed_m_s = calc_true_airspeed(_diff_pres.differential_pressure_pa + raw.baro_pres_mbar * 1e2f,
_airspeed.timestamp = _diff_pres.timestamp;
_airspeed.indicated_airspeed_m_s = calc_indicated_airspeed(_diff_pres.differential_pressure_filtered_pa);
_airspeed.true_airspeed_m_s = calc_true_airspeed(_diff_pres.differential_pressure_filtered_pa + raw.baro_pres_mbar * 1e2f,
raw.baro_pres_mbar * 1e2f, raw.baro_temp_celcius - PCB_TEMP_ESTIMATE_DEG);
/* announce the airspeed if needed, just publish else */
@@ -1589,8 +1591,7 @@ Sensors::task_main()
/* check parameters for updates */
parameter_update_poll();
/* store the time closest to all measurements (this is bogus, sensor timestamps should be propagated...) */
raw.timestamp = hrt_absolute_time();
/* the timestamp of the raw struct is updated by the gyro_poll() method */
/* copy most recent sensor data */
gyro_poll(raw);