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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-15 03:07:35 +08:00
move IMU integration out of drivers to sensors hub to handle accel/gyro sync
- IMU integration move from drivers (PX4Accelerometer/PX4Gyroscope) to sensors/vehicle_imu - sensors: voted_sensors_update now consumes vehicle_imu - delete sensor_accel_integrated, sensor_gyro_integrated - merge sensor_accel_status/sensor_gyro_status into vehicle_imu_status - sensors status output minor improvements (ordering, whitespace, show selected sensor device id and instance)
This commit is contained in:
Daniel Agar
+1
-4
@@ -112,15 +112,11 @@ set(msg_files
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satellite_info.msg
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sensor_accel.msg
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sensor_accel_fifo.msg
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sensor_accel_integrated.msg
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sensor_accel_status.msg
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sensor_baro.msg
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sensor_combined.msg
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sensor_correction.msg
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sensor_gyro.msg
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sensor_gyro_fifo.msg
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sensor_gyro_integrated.msg
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sensor_gyro_status.msg
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sensor_mag.msg
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sensor_preflight.msg
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sensor_selection.msg
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@@ -154,6 +150,7 @@ set(msg_files
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vehicle_global_position.msg
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vehicle_gps_position.msg
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vehicle_imu.msg
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vehicle_imu_status.msg
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vehicle_land_detected.msg
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vehicle_local_position.msg
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vehicle_local_position_setpoint.msg
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@@ -9,4 +9,8 @@ float32 z # acceleration in the NED Z board axis in m/s^2
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float32 temperature # temperature in degrees celsius
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uint8 ORB_QUEUE_LENGTH = 4
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uint32 error_count
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uint8[3] clip_counter # clip count per axis in the sample period
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uint8 ORB_QUEUE_LENGTH = 8
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@@ -1,12 +0,0 @@
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample
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uint32 device_id # unique device ID for the sensor that does not change between power cycles
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uint64 error_count
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float32[3] delta_velocity # delta velocity in the NED board axis in m/s over the integration time frame (dt)
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uint16 dt # integration time (microseconds)
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uint8 samples # number of samples integrated
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uint8[3] clip_counter # clip count per axis over the integration period
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@@ -1,17 +0,0 @@
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uint64 timestamp # time since system start (microseconds)
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uint32 device_id # unique device ID for the sensor that does not change between power cycles
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uint64 error_count
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float32 temperature
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uint8 rotation
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uint32[3] clipping # clipping per axis
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uint16 measure_rate_hz
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float32 full_scale_range
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float32 vibration_metric # high frequency vibration level in the IMU delta velocity data (m/s)
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+3
-1
@@ -9,4 +9,6 @@ float32 z # angular velocity in the NED Z board axis in rad/s
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float32 temperature # temperature in degrees celsius
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uint8 ORB_QUEUE_LENGTH = 4
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uint32 error_count
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uint8 ORB_QUEUE_LENGTH = 8
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@@ -1,12 +0,0 @@
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample
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uint32 device_id # unique device ID for the sensor that does not change between power cycles
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uint64 error_count
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float32[3] delta_angle # delta angle in the NED board axis in rad/s over the integration time frame (dt)
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uint16 dt # integration time (microseconds)
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uint8 samples # number of samples integrated
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uint8[3] clip_counter # clip count per axis over the integration period
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@@ -1,19 +0,0 @@
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uint64 timestamp # time since system start (microseconds)
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uint32 device_id # unique device ID for the sensor that does not change between power cycles
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uint64 error_count
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float32 temperature
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uint8 rotation
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uint32[3] clipping # clipping per axis
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uint16 measure_rate_hz
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float32 full_scale_range
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float32 vibration_metric # high frequency vibration level in the IMU delta angle data (rad)
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float32 coning_vibration # Level of coning vibration in the IMU delta angles (rad^2)
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@@ -305,6 +305,18 @@ def print_field(field):
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print("char device_id_buffer[80];")
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print("device::Device::device_id_print_buffer(device_id_buffer, sizeof(device_id_buffer), message.device_id);")
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print("PX4_INFO_RAW(\"\\tdevice_id: %d (%s) \\n\", message.device_id, device_id_buffer);")
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elif field.name == 'accel_device_id':
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print("char accel_device_id_buffer[80];")
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print("device::Device::device_id_print_buffer(accel_device_id_buffer, sizeof(accel_device_id_buffer), message.accel_device_id);")
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print("PX4_INFO_RAW(\"\\taccel_device_id: %d (%s) \\n\", message.accel_device_id, accel_device_id_buffer);")
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elif field.name == 'gyro_device_id':
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print("char gyro_device_id_buffer[80];")
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print("device::Device::device_id_print_buffer(gyro_device_id_buffer, sizeof(gyro_device_id_buffer), message.gyro_device_id);")
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print("PX4_INFO_RAW(\"\\tgyro_device_id: %d (%s) \\n\", message.gyro_device_id, gyro_device_id_buffer);")
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elif field.name == 'baro_device_id':
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print("char baro_device_id_buffer[80];")
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print("device::Device::device_id_print_buffer(baro_device_id_buffer, sizeof(baro_device_id_buffer), message.baro_device_id);")
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print("PX4_INFO_RAW(\"\\tbaro_device_id: %d (%s) \\n\", message.baro_device_id, baro_device_id_buffer);")
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elif is_array and 'char' in field.type:
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print(("PX4_INFO_RAW(\"\\t" + field.name + ": \\\"%." + str(array_length) + "s\\\" \\n\", message." + field.name + ");"))
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else:
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@@ -267,40 +267,34 @@ rtps:
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id: 117
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- msg: sensor_accel_fifo
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id: 118
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- msg: sensor_accel_status
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id: 119
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- msg: sensor_gyro_fifo
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id: 120
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- msg: sensor_gyro_status
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id: 121
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- msg: sensor_accel_integrated
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id: 122
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- msg: sensor_gyro_integrated
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id: 123
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id: 119
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- msg: vehicle_imu
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id: 124
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id: 120
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- msg: vehicle_imu_status
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id: 121
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- msg: vehicle_angular_acceleration
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id: 125
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id: 122
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- msg: logger_status
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id: 126
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id: 123
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- msg: rpm
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id: 127
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id: 124
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- msg: hover_thrust_estimate
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id: 128
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id: 125
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- msg: trajectory_bezier
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id: 129
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id: 126
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- msg: vehicle_trajectory_bezier
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id: 130
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id: 127
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- msg: timesync_status
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id: 131
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id: 128
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- msg: orb_test
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id: 132
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id: 129
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- msg: orb_test_medium
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id: 133
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id: 130
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- msg: orb_test_large
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id: 134
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id: 131
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- msg: yaw_estimator_status
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id: 135
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id: 132
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########## multi topics: begin ##########
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- msg: actuator_controls_0
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id: 150
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+2
-2
@@ -8,8 +8,8 @@ uint32 gyro_device_id # Gyroscope unique device ID for the sensor that
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float32[3] delta_angle # delta angle in the NED board axis in rad/s over the integration time frame (dt)
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float32[3] delta_velocity # delta velocity in the NED board axis in m/s over the integration time frame (dt)
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uint16 dt # integration period in us
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uint16 delta_angle_dt # integration period in us
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uint16 delta_velocity_dt # integration period in us
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uint8 CLIPPING_X = 1
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uint8 CLIPPING_Y = 2
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@@ -0,0 +1,16 @@
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uint64 timestamp # time since system start (microseconds)
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uint32 accel_device_id # unique device ID for the sensor that does not change between power cycles
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uint32 gyro_device_id # unique device ID for the sensor that does not change between power cycles
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uint32[3] accel_clipping # clipping per axis
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uint32 accel_error_count
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uint32 gyro_error_count
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uint16 accel_rate_hz
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uint16 gyro_rate_hz
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float32 accel_vibration_metric # high frequency vibration level in the IMU delta velocity data (m/s)
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float32 gyro_vibration_metric # high frequency vibration level in the IMU delta velocity data (m/s)
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float32 gyro_coning_vibration # Level of coning vibration in the IMU delta angles (rad^2)
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