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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
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src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
+2 -2
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@@ -744,7 +744,7 @@ void BlockLocalPositionEstimator::publishGlobalPos()
_pub_gpos.get().terrain_alt = _altHome - xLP(X_tz);
_pub_gpos.get().terrain_alt_valid = _validTZ;
_pub_gpos.get().dead_reckoning = !_validXY && !_xyTimeout;
_pub_gpos.get().pressure_alt = _sub_sensor.get().baro_alt_meter[0];
_pub_gpos.get().pressure_alt = _sub_sensor.get().baro_alt_meter;
_pub_gpos.update();
}
}
@@ -845,7 +845,7 @@ void BlockLocalPositionEstimator::predict()
if (integrate && _sub_att.get().R_valid) {
Matrix3f R_att(_sub_att.get().R);
Vector3f a;
float accel_dt = _sub_sensor.get().accelerometer_integral_dt[0] / 1.e6f;
float accel_dt = _sub_sensor.get().accelerometer_integral_dt / 1.e6f;
a(0) = _sub_sensor.get().accelerometer_integral_m_s[0] / accel_dt;
a(1) = _sub_sensor.get().accelerometer_integral_m_s[1] / accel_dt;
a(2) = _sub_sensor.get().accelerometer_integral_m_s[2] / accel_dt;