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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/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+1 -1
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@@ -1231,7 +1231,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
/* filter speed and altitude for controller */
math::Vector<3> accel_body;
float accel_dt = _sensor_combined.accelerometer_integral_dt[0] / 1.e6f;
float accel_dt = _sensor_combined.accelerometer_integral_dt / 1.e6f;
accel_body(0) = _sensor_combined.accelerometer_integral_m_s[0] / accel_dt;
accel_body(1) = _sensor_combined.accelerometer_integral_m_s[1] / accel_dt;
accel_body(2) = _sensor_combined.accelerometer_integral_m_s[2] / accel_dt;