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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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/sdlog2/sdlog2.c
+48 -70
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@@ -1370,10 +1370,10 @@ int sdlog2_thread_main(int argc, char *argv[])
pthread_cond_init(&logbuffer_cond, NULL);
/* track changes in sensor_combined topic */
hrt_abstime gyro_timestamp[3] = {0, 0, 0};
hrt_abstime accelerometer_timestamp[3] = {0, 0, 0};
hrt_abstime magnetometer_timestamp[3] = {0, 0, 0};
hrt_abstime barometer_timestamp[3] = {0, 0, 0};
hrt_abstime gyro_timestamp = 0;
hrt_abstime accelerometer_timestamp = 0;
hrt_abstime magnetometer_timestamp = 0;
hrt_abstime barometer_timestamp = 0;
/* initialize calculated mean SNR */
float snr_mean = 0.0f;
@@ -1634,80 +1634,58 @@ int sdlog2_thread_main(int argc, char *argv[])
// but we need to copy it again because we are re-using the buffer.
orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.sensor);
for (unsigned i = 0; i < 3; i++) {
bool write_IMU = false;
bool write_SENS = false;
bool write_IMU = false;
bool write_SENS = false;
if (buf.sensor.gyro_timestamp[i] != gyro_timestamp[i]) {
gyro_timestamp[i] = buf.sensor.gyro_timestamp[i];
write_IMU = true;
}
if (buf.sensor.timestamp != gyro_timestamp) {
gyro_timestamp = buf.sensor.timestamp;
write_IMU = true;
}
if (buf.sensor.accelerometer_timestamp[i] != accelerometer_timestamp[i]) {
accelerometer_timestamp[i] = buf.sensor.accelerometer_timestamp[i];
write_IMU = true;
}
if (buf.sensor.accelerometer_timestamp != accelerometer_timestamp) {
accelerometer_timestamp = buf.sensor.accelerometer_timestamp;
write_IMU = true;
}
if (buf.sensor.magnetometer_timestamp[i] != magnetometer_timestamp[i]) {
magnetometer_timestamp[i] = buf.sensor.magnetometer_timestamp[i];
write_IMU = true;
}
if (buf.sensor.magnetometer_timestamp != magnetometer_timestamp) {
magnetometer_timestamp = buf.sensor.magnetometer_timestamp;
write_IMU = true;
}
if (buf.sensor.baro_timestamp[i] != barometer_timestamp[i]) {
barometer_timestamp[i] = buf.sensor.baro_timestamp[i];
write_SENS = true;
}
if (buf.sensor.baro_timestamp != barometer_timestamp) {
barometer_timestamp = buf.sensor.baro_timestamp;
write_SENS = true;
}
if (write_IMU) {
switch (i) {
case 0:
log_msg.msg_type = LOG_IMU_MSG;
break;
case 1:
log_msg.msg_type = LOG_IMU1_MSG;
break;
case 2:
log_msg.msg_type = LOG_IMU2_MSG;
break;
}
if (write_IMU) {
log_msg.msg_type = LOG_IMU_MSG;
float gyro_dt = buf.sensor.gyro_integral_dt[i] / 1.e6f;
log_msg.body.log_IMU.gyro_x = buf.sensor.gyro_integral_rad[i * 3 + 0] / gyro_dt;
log_msg.body.log_IMU.gyro_y = buf.sensor.gyro_integral_rad[i * 3 + 1] / gyro_dt;
log_msg.body.log_IMU.gyro_z = buf.sensor.gyro_integral_rad[i * 3 + 2] / gyro_dt;
float accel_dt = buf.sensor.accelerometer_integral_dt[i] / 1.e6f;
log_msg.body.log_IMU.acc_x = buf.sensor.accelerometer_integral_m_s[i * 3 + 0] / accel_dt;
log_msg.body.log_IMU.acc_y = buf.sensor.accelerometer_integral_m_s[i * 3 + 1] / accel_dt;
log_msg.body.log_IMU.acc_z = buf.sensor.accelerometer_integral_m_s[i * 3 + 2] / accel_dt;
log_msg.body.log_IMU.mag_x = buf.sensor.magnetometer_ga[i * 3 + 0];
log_msg.body.log_IMU.mag_y = buf.sensor.magnetometer_ga[i * 3 + 1];
log_msg.body.log_IMU.mag_z = buf.sensor.magnetometer_ga[i * 3 + 2];
log_msg.body.log_IMU.temp_gyro = 0;
log_msg.body.log_IMU.temp_acc = 0;
log_msg.body.log_IMU.temp_mag = 0;
LOGBUFFER_WRITE_AND_COUNT(IMU);
}
float gyro_dt = buf.sensor.gyro_integral_dt / 1.e6f;
log_msg.body.log_IMU.gyro_x = buf.sensor.gyro_integral_rad[0] / gyro_dt;
log_msg.body.log_IMU.gyro_y = buf.sensor.gyro_integral_rad[1] / gyro_dt;
log_msg.body.log_IMU.gyro_z = buf.sensor.gyro_integral_rad[2] / gyro_dt;
float accel_dt = buf.sensor.accelerometer_integral_dt / 1.e6f;
log_msg.body.log_IMU.acc_x = buf.sensor.accelerometer_integral_m_s[0] / accel_dt;
log_msg.body.log_IMU.acc_y = buf.sensor.accelerometer_integral_m_s[1] / accel_dt;
log_msg.body.log_IMU.acc_z = buf.sensor.accelerometer_integral_m_s[2] / accel_dt;
log_msg.body.log_IMU.mag_x = buf.sensor.magnetometer_ga[0];
log_msg.body.log_IMU.mag_y = buf.sensor.magnetometer_ga[1];
log_msg.body.log_IMU.mag_z = buf.sensor.magnetometer_ga[2];
log_msg.body.log_IMU.temp_gyro = 0;
log_msg.body.log_IMU.temp_acc = 0;
log_msg.body.log_IMU.temp_mag = 0;
LOGBUFFER_WRITE_AND_COUNT(IMU);
}
if (write_SENS) {
switch (i) {
case 0:
log_msg.msg_type = LOG_SENS_MSG;
break;
case 1:
log_msg.msg_type = LOG_AIR1_MSG;
break;
case 2:
continue;
break;
}
if (write_SENS) {
log_msg.msg_type = LOG_SENS_MSG;
log_msg.body.log_SENS.baro_pres = 0;
log_msg.body.log_SENS.baro_alt = buf.sensor.baro_alt_meter[i];
log_msg.body.log_SENS.baro_temp = buf.sensor.baro_temp_celcius[i];
log_msg.body.log_SENS.diff_pres = 0;
log_msg.body.log_SENS.diff_pres_filtered = 0;
LOGBUFFER_WRITE_AND_COUNT(SENS);
}
log_msg.body.log_SENS.baro_pres = 0;
log_msg.body.log_SENS.baro_alt = buf.sensor.baro_alt_meter;
log_msg.body.log_SENS.baro_temp = buf.sensor.baro_temp_celcius;
log_msg.body.log_SENS.diff_pres = 0;
log_msg.body.log_SENS.diff_pres_filtered = 0;
LOGBUFFER_WRITE_AND_COUNT(SENS);
}
/* --- VTOL VEHICLE STATUS --- */