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introduce sensor_gyro_control message for vehicle_angular_velocity (#12145)

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Daniel Agar
2019-08-16 13:53:59 -04:00
committed by GitHub
parent be3d09c700
commit dacaabe92e
7 changed files with 134 additions and 20 deletions
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src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp
+11
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@@ -50,6 +50,7 @@
#include <uORB/topics/sensor_selection.h>
#include <uORB/topics/sensor_gyro.h>
#include <uORB/topics/sensor_gyro_control.h>
#include <uORB/topics/vehicle_angular_velocity.h>
class VehicleAngularVelocity : public ModuleParams, public px4::WorkItem
@@ -89,12 +90,19 @@ private:
uORB::Subscription _sensor_correction_sub{ORB_ID(sensor_correction)}; /**< sensor thermal correction subscription */
uORB::SubscriptionCallbackWorkItem _sensor_selection_sub{this, ORB_ID(sensor_selection)}; /**< selected primary sensor subscription */
uORB::SubscriptionCallbackWorkItem _sensor_sub[MAX_SENSOR_COUNT] { /**< sensor data subscription */
{this, ORB_ID(sensor_gyro), 0},
{this, ORB_ID(sensor_gyro), 1},
{this, ORB_ID(sensor_gyro), 2}
};
uORB::SubscriptionCallbackWorkItem _sensor_control_sub[MAX_SENSOR_COUNT] { /**< sensor control data subscription */
{this, ORB_ID(sensor_gyro_control), 0},
{this, ORB_ID(sensor_gyro_control), 1},
{this, ORB_ID(sensor_gyro_control), 2}
};
matrix::Dcmf _board_rotation; /**< rotation matrix for the orientation that the board is mounted */
matrix::Vector3f _offset;
@@ -105,6 +113,9 @@ private:
perf_counter_t _interval_perf;
perf_counter_t _sensor_latency_perf;
uint32_t _selected_sensor_device_id{0};
uint8_t _selected_sensor{0};
uint8_t _selected_sensor_control{0};
bool _sensor_control_available{false};
};