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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/mavlink/mavlink_receiver.cpp
+8 -10
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@@ -1673,16 +1673,14 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
{
struct sensor_combined_s hil_sensors = {};
hil_sensors.timestamp = timestamp;
hil_sensors.gyro_integral_rad[0] = 0.5f * (imu.xgyro + _hil_prev_gyro[0]) * dt;
hil_sensors.gyro_integral_rad[1] = 0.5f * (imu.ygyro + _hil_prev_gyro[1]) * dt;
hil_sensors.gyro_integral_rad[2] = 0.5f * (imu.zgyro + _hil_prev_gyro[2]) * dt;
_hil_prev_gyro[0] = imu.xgyro;
_hil_prev_gyro[1] = imu.ygyro;
_hil_prev_gyro[2] = imu.zgyro;
hil_sensors.gyro_integral_dt[0] = dt * 1e6f;
hil_sensors.gyro_timestamp[0] = timestamp;
hil_sensors.gyro_integral_dt = dt * 1e6f;
hil_sensors.timestamp = timestamp;
hil_sensors.accelerometer_integral_m_s[0] = 0.5f * (imu.xacc + _hil_prev_accel[0]) * dt;
hil_sensors.accelerometer_integral_m_s[1] = 0.5f * (imu.yacc + _hil_prev_accel[1]) * dt;
@@ -1690,17 +1688,17 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
_hil_prev_accel[0] = imu.xacc;
_hil_prev_accel[1] = imu.yacc;
_hil_prev_accel[2] = imu.zacc;
hil_sensors.accelerometer_integral_dt[0] = dt * 1e6f;
hil_sensors.accelerometer_timestamp[0] = timestamp;
hil_sensors.accelerometer_integral_dt = dt * 1e6f;
hil_sensors.accelerometer_timestamp = timestamp;
hil_sensors.magnetometer_ga[0] = imu.xmag;
hil_sensors.magnetometer_ga[1] = imu.ymag;
hil_sensors.magnetometer_ga[2] = imu.zmag;
hil_sensors.magnetometer_timestamp[0] = timestamp;
hil_sensors.magnetometer_timestamp = timestamp;
hil_sensors.baro_alt_meter[0] = imu.pressure_alt;
hil_sensors.baro_temp_celcius[0] = imu.temperature;
hil_sensors.baro_timestamp[0] = timestamp;
hil_sensors.baro_alt_meter = imu.pressure_alt;
hil_sensors.baro_temp_celcius = imu.temperature;
hil_sensors.baro_timestamp = timestamp;
/* publish combined sensor topic */
if (_sensors_pub == nullptr) {