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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
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src/lib/terrain_estimation/terrain_estimator.cpp
+1 -1
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@@ -68,7 +68,7 @@ void TerrainEstimator::predict(float dt, const struct vehicle_attitude_s *attitu
if (attitude->R_valid) {
matrix::Matrix<float, 3, 3> R_att(attitude->R);
matrix::Vector<float, 3> a;
float accel_dt = sensor->accelerometer_integral_dt[0] / 1.e6f;
float accel_dt = sensor->accelerometer_integral_dt / 1.e6f;
a(0) = sensor->accelerometer_integral_m_s[0] / accel_dt;
a(1) = sensor->accelerometer_integral_m_s[1] / accel_dt;
a(2) = sensor->accelerometer_integral_m_s[2] / accel_dt;