fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-21 00:23:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

sensors: move voting into sensors module

Browse Source 
- 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/modules/ekf2_replay/ekf2_replay_main.cpp
+5 -5
View File
@@ -377,10 +377,10 @@ void Ekf2Replay::setEstimatorInput(uint8_t *data, uint8_t type)
uint8_t *dest_ptr = (uint8_t *)&replay_part1.time_ref;
parseMessage(data, dest_ptr, type);
_sensors.timestamp = replay_part1.time_ref;
_sensors.gyro_integral_dt[0] = replay_part1.gyro_integral_dt;
_sensors.accelerometer_integral_dt[0] = replay_part1.accelerometer_integral_dt;
_sensors.magnetometer_timestamp[0] = replay_part1.magnetometer_timestamp;
_sensors.baro_timestamp[0] = replay_part1.baro_timestamp;
_sensors.gyro_integral_dt = replay_part1.gyro_integral_dt;
_sensors.accelerometer_integral_dt = replay_part1.accelerometer_integral_dt;
_sensors.magnetometer_timestamp = replay_part1.magnetometer_timestamp;
_sensors.baro_timestamp = replay_part1.baro_timestamp;
_sensors.gyro_integral_rad[0] = replay_part1.gyro_integral_x_rad;
_sensors.gyro_integral_rad[1] = replay_part1.gyro_integral_y_rad;
_sensors.gyro_integral_rad[2] = replay_part1.gyro_integral_z_rad;
@@ -390,7 +390,7 @@ void Ekf2Replay::setEstimatorInput(uint8_t *data, uint8_t type)
_sensors.magnetometer_ga[0] = replay_part1.magnetometer_x_ga;
_sensors.magnetometer_ga[1] = replay_part1.magnetometer_y_ga;
_sensors.magnetometer_ga[2] = replay_part1.magnetometer_z_ga;
_sensors.baro_alt_meter[0] = replay_part1.baro_alt_meter;
_sensors.baro_alt_meter = replay_part1.baro_alt_meter;
_part1_counter_ref = _message_counter;
} else if (type == LOG_RPL2_MSG) {