fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-08 17:50:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

move IMU integration out of drivers to sensors hub to handle accel/gyro sync

Browse Source 
- 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
2020-05-30 11:07:54 -04:00
committed by GitHub
parent 86cd1d0802
commit e34bdb4be9
74 changed files with 785 additions and 1197 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/mavlink_receiver.cpp
+6 -28
View File
@@ -2188,15 +2188,8 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
/* gyro */
{
if (_px4_gyro == nullptr) {
// 2294028: DRV_GYR_DEVTYPE_GYROSIM, BUS: 1, ADDR: 2, TYPE: SIMULATION
_px4_gyro = new PX4Gyroscope(2294028);
if (_px4_gyro == nullptr) {
PX4_ERR("PX4Gyroscope alloc failed");
} else {
_px4_gyro->set_update_rate(200); // TODO: measure actual
}
// 1311244: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
_px4_gyro = new PX4Gyroscope(1311244);
}
if (_px4_gyro != nullptr) {
@@ -2208,15 +2201,8 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
/* accelerometer */
{
if (_px4_accel == nullptr) {
// 1311244: DRV_ACC_DEVTYPE_ACCELSIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
// 1311244: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
_px4_accel = new PX4Accelerometer(1311244);
if (_px4_accel == nullptr) {
PX4_ERR("PX4Accelerometer alloc failed");
} else {
_px4_accel->set_update_rate(200); // TODO: measure actual
}
}
if (_px4_accel != nullptr) {
@@ -2230,10 +2216,6 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
if (_px4_mag == nullptr) {
// 197388: DRV_MAG_DEVTYPE_MAGSIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
_px4_mag = new PX4Magnetometer(197388);
if (_px4_mag == nullptr) {
PX4_ERR("PX4Magnetometer alloc failed");
}
}
if (_px4_mag != nullptr) {
@@ -2247,10 +2229,6 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
if (_px4_baro == nullptr) {
// 6620172: DRV_BARO_DEVTYPE_BAROSIM, BUS: 1, ADDR: 4, TYPE: SIMULATION
_px4_baro = new PX4Barometer(6620172);
if (_px4_baro == nullptr) {
PX4_ERR("PX4Barometer alloc failed");
}
}
if (_px4_baro != nullptr) {
@@ -2629,7 +2607,7 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
/* accelerometer */
{
if (_px4_accel == nullptr) {
// 1311244: DRV_ACC_DEVTYPE_ACCELSIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
// 1311244: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
_px4_accel = new PX4Accelerometer(1311244);
if (_px4_accel == nullptr) {
@@ -2647,8 +2625,8 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
/* gyroscope */
{
if (_px4_gyro == nullptr) {
// 2294028: DRV_GYR_DEVTYPE_GYROSIM, BUS: 1, ADDR: 2, TYPE: SIMULATION
_px4_gyro = new PX4Gyroscope(2294028);
// 1311244: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
_px4_gyro = new PX4Gyroscope(1311244);
if (_px4_gyro == nullptr) {
PX4_ERR("PX4Gyroscope alloc failed");