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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/sih/sih.cpp
-2
View File
@@ -95,8 +95,6 @@ Sih::Sih() :
_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": execution")),
_sampling_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": sampling"))
{
_px4_accel.set_update_rate(LOOP_INTERVAL);
_px4_gyro.set_update_rate(LOOP_INTERVAL);
}
void Sih::run()
src/modules/sih/sih.hpp
+2 -2
View File
@@ -98,8 +98,8 @@ private:
void parameters_updated();
// simulated sensor instances
PX4Accelerometer _px4_accel{ 1311244, ORB_PRIO_DEFAULT, ROTATION_NONE }; // 1311244: DRV_ACC_DEVTYPE_ACCELSIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
PX4Gyroscope _px4_gyro{ 2294028, ORB_PRIO_DEFAULT, ROTATION_NONE }; // 2294028: DRV_GYR_DEVTYPE_GYROSIM, BUS: 1, ADDR: 2, TYPE: SIMULATION
PX4Accelerometer _px4_accel{ 1311244, ORB_PRIO_DEFAULT, ROTATION_NONE }; // 1311244: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
PX4Gyroscope _px4_gyro{ 1311244, ORB_PRIO_DEFAULT, ROTATION_NONE }; // 1311244: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
PX4Magnetometer _px4_mag{ 197388, ORB_PRIO_DEFAULT, ROTATION_NONE }; // 197388: DRV_MAG_DEVTYPE_MAGSIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
PX4Barometer _px4_baro{ 6620172, ORB_PRIO_DEFAULT }; // 6620172: DRV_BARO_DEVTYPE_BAROSIM, BUS: 1, ADDR: 4, TYPE: SIMULATION