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

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- 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
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src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
+11 -7
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@@ -43,7 +43,7 @@ namespace sensors
VehicleAngularVelocity::VehicleAngularVelocity() :
ModuleParams(nullptr),
WorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl),
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl),
_corrections(this, SensorCorrections::SensorType::Gyroscope)
{
_lp_filter_velocity.set_cutoff_frequency(kInitialRateHz, _param_imu_gyro_cutoff.get());
@@ -68,7 +68,10 @@ bool VehicleAngularVelocity::Start()
return false;
}
ScheduleNow();
if (!SensorSelectionUpdate(true)) {
ScheduleDelayed(10_ms);
}
return true;
}
@@ -218,6 +221,9 @@ void VehicleAngularVelocity::ParametersUpdate(bool force)
void VehicleAngularVelocity::Run()
{
// backup schedule
ScheduleDelayed(10_ms);
// update corrections first to set _selected_sensor
bool selection_updated = SensorSelectionUpdate();
@@ -311,11 +317,9 @@ void VehicleAngularVelocity::Run()
void VehicleAngularVelocity::PrintStatus()
{
PX4_INFO("selected sensor: %d (%d)", _selected_sensor_device_id, _selected_sensor_sub_index);
PX4_INFO("bias: [%.3f %.3f %.3f]", (double)_bias(0), (double)_bias(1), (double)_bias(2));
PX4_INFO("sample rate: %.3f Hz", (double)_update_rate_hz);
PX4_INFO("selected sensor: %d (%d), rate: %.1f Hz",
_selected_sensor_device_id, _selected_sensor_sub_index, (double)_update_rate_hz);
PX4_INFO("estimated bias: [%.3f %.3f %.3f]", (double)_bias(0), (double)_bias(1), (double)_bias(2));
_corrections.PrintStatus();
}
src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp
+2 -2
View File
@@ -42,7 +42,7 @@
#include <px4_platform_common/log.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
@@ -56,7 +56,7 @@
namespace sensors
{
class VehicleAngularVelocity : public ModuleParams, public px4::WorkItem
class VehicleAngularVelocity : public ModuleParams, public px4::ScheduledWorkItem
{
public: