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sensors: move voting into sensors module

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- voting is now at a central place instead of duplicated within the
  estimators
  -> this also means that estimators that did not do voting so far,
     now have voting, like ekf2
- estimators requiring more than that can still subscribe to the raw
  sensors
- allows sensors_combined to be 3 times smaller
  - reduces logger, memcpy (cache) & RAM overhead
- all modules requiring only 1 or 2 sensor values now automatically get
  the voted result
- this also adds voting to baro
This commit is contained in:
Beat Küng
2016-07-07 11:35:50 +02:00
committed by Lorenz Meier
parent c50d267bfb
commit d846ad5dac
23 changed files with 560 additions and 632 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/frsky_telemetry/frsky_data.c
+4 -4
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@@ -205,7 +205,7 @@ void frsky_send_frame1(int uart)
{
/* send formatted frame */
float acceleration[3];
float accel_dt = sensor_combined->accelerometer_integral_dt[0] / 1.e6f;
float accel_dt = sensor_combined->accelerometer_integral_dt / 1.e6f;
acceleration[0] = sensor_combined->accelerometer_integral_m_s[0] / accel_dt;
acceleration[1] = sensor_combined->accelerometer_integral_m_s[1] / accel_dt;
acceleration[2] = sensor_combined->accelerometer_integral_m_s[2] / accel_dt;
@@ -214,12 +214,12 @@ void frsky_send_frame1(int uart)
frsky_send_data(uart, FRSKY_ID_ACCEL_Z, roundf(acceleration[2] * 1000.0f));
frsky_send_data(uart, FRSKY_ID_BARO_ALT_BP,
sensor_combined->baro_alt_meter[0]);
sensor_combined->baro_alt_meter);
frsky_send_data(uart, FRSKY_ID_BARO_ALT_AP,
roundf(frac(sensor_combined->baro_alt_meter[0]) * 100.0f));
roundf(frac(sensor_combined->baro_alt_meter) * 100.0f));
frsky_send_data(uart, FRSKY_ID_TEMP1,
roundf(sensor_combined->baro_temp_celcius[0]));
roundf(sensor_combined->baro_temp_celcius));
frsky_send_data(uart, FRSKY_ID_VFAS,
roundf(battery_status->voltage_v * 10.0f));
src/drivers/frsky_telemetry/sPort_data.c
+1 -1
View File
@@ -236,7 +236,7 @@ void sPort_send_CUR(int uart)
void sPort_send_ALT(int uart)
{
/* send data */
uint32_t alt = (int)(100 * sensor_combined->baro_alt_meter[0]);
uint32_t alt = (int)(100 * sensor_combined->baro_alt_meter);
sPort_send_data(uart, SMARTPORT_ID_ALT, alt);
}
src/drivers/hott/messages.cpp
+2 -2
View File
@@ -149,12 +149,12 @@ build_eam_response(uint8_t *buffer, size_t *size)
msg.eam_sensor_id = EAM_SENSOR_ID;
msg.sensor_text_id = EAM_SENSOR_TEXT_ID;
msg.temperature1 = (uint8_t)(raw.baro_temp_celcius[0] + 20);
msg.temperature1 = (uint8_t)(raw.baro_temp_celcius + 20);
msg.temperature2 = msg.temperature1 - BOARD_TEMP_OFFSET_DEG;
msg.main_voltage_L = (uint8_t)(battery.voltage_v * 10);
uint16_t alt = (uint16_t)(raw.baro_alt_meter[0] + 500);
uint16_t alt = (uint16_t)(raw.baro_alt_meter + 500);
msg.altitude_L = (uint8_t)alt & 0xff;
msg.altitude_H = (uint8_t)(alt >> 8) & 0xff;