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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
2016-06-25 12:28:02 +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/modules/ekf2/ekf2_main.cpp
+15 -15
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@@ -505,14 +505,14 @@ void Ekf2::task_main()
}
// push imu data into estimator
_ekf.setIMUData(now, sensors.gyro_integral_dt[0], sensors.accelerometer_integral_dt[0],
&sensors.gyro_integral_rad[0], &sensors.accelerometer_integral_m_s[0]);
_ekf.setIMUData(now, sensors.gyro_integral_dt, sensors.accelerometer_integral_dt,
sensors.gyro_integral_rad, sensors.accelerometer_integral_m_s);
// read mag data
_ekf.setMagData(sensors.magnetometer_timestamp[0], &sensors.magnetometer_ga[0]);
_ekf.setMagData(sensors.magnetometer_timestamp, sensors.magnetometer_ga);
// read baro data
_ekf.setBaroData(sensors.baro_timestamp[0], &sensors.baro_alt_meter[0]);
_ekf.setBaroData(sensors.baro_timestamp, &sensors.baro_alt_meter);
// read gps data if available
if (gps_updated) {
@@ -615,7 +615,7 @@ void Ekf2::task_main()
float gyro_bias[3] = {};
_ekf.get_gyro_bias(gyro_bias);
float gyro_rad_s[3];
float gyro_dt = sensors.gyro_integral_dt[0] / 1.e6f;
float gyro_dt = sensors.gyro_integral_dt / 1.e6f;
gyro_rad_s[0] = sensors.gyro_integral_rad[0] / gyro_dt - gyro_bias[0];
gyro_rad_s[1] = sensors.gyro_integral_rad[1] / gyro_dt - gyro_bias[1];
gyro_rad_s[2] = sensors.gyro_integral_rad[2] / gyro_dt - gyro_bias[2];
@@ -650,7 +650,7 @@ void Ekf2::task_main()
// Acceleration data
matrix::Vector<float, 3> acceleration;
float accel_dt = sensors.accelerometer_integral_dt[0] / 1.e6f;
float accel_dt = sensors.accelerometer_integral_dt / 1.e6f;
acceleration(0) = sensors.accelerometer_integral_m_s[0] / accel_dt;
acceleration(1) = sensors.accelerometer_integral_m_s[1] / accel_dt;
acceleration(2) = sensors.accelerometer_integral_m_s[2] / accel_dt;
@@ -811,7 +811,7 @@ void Ekf2::task_main()
// TODO use innovatun consistency check timouts to set this
global_pos.dead_reckoning = false; // True if this position is estimated through dead-reckoning
global_pos.pressure_alt = sensors.baro_alt_meter[0]; // Pressure altitude AMSL (m)
global_pos.pressure_alt = sensors.baro_alt_meter; // Pressure altitude AMSL (m)
if (_vehicle_global_position_pub == nullptr) {
_vehicle_global_position_pub = orb_advertise(ORB_ID(vehicle_global_position), &global_pos);
@@ -905,15 +905,15 @@ void Ekf2::task_main()
if (publish_replay_message) {
struct ekf2_replay_s replay = {};
replay.time_ref = now;
replay.gyro_integral_dt = sensors.gyro_integral_dt[0];
replay.accelerometer_integral_dt = sensors.accelerometer_integral_dt[0];
replay.magnetometer_timestamp = sensors.magnetometer_timestamp[0];
replay.baro_timestamp = sensors.baro_timestamp[0];
memcpy(&replay.gyro_integral_rad[0], &sensors.gyro_integral_rad[0], sizeof(replay.gyro_integral_rad));
memcpy(&replay.accelerometer_integral_m_s[0], &sensors.accelerometer_integral_m_s[0],
replay.gyro_integral_dt = sensors.gyro_integral_dt;
replay.accelerometer_integral_dt = sensors.accelerometer_integral_dt;
replay.magnetometer_timestamp = sensors.magnetometer_timestamp;
replay.baro_timestamp = sensors.baro_timestamp;
memcpy(replay.gyro_integral_rad, sensors.gyro_integral_rad, sizeof(replay.gyro_integral_rad));
memcpy(replay.accelerometer_integral_m_s, sensors.accelerometer_integral_m_s,
sizeof(replay.accelerometer_integral_m_s));
memcpy(&replay.magnetometer_ga[0], &sensors.magnetometer_ga[0], sizeof(replay.magnetometer_ga));
replay.baro_alt_meter = sensors.baro_alt_meter[0];
memcpy(replay.magnetometer_ga, sensors.magnetometer_ga, sizeof(replay.magnetometer_ga));
replay.baro_alt_meter = sensors.baro_alt_meter;
// only write gps data if we had a gps update.
if (gps_updated) {