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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/uORB/Subscription.hpp
+8 -5
View File
@@ -42,6 +42,7 @@
#include <uORB/topics/uORBTopics.hpp>
#include <px4_platform_common/defines.h>
#include <lib/mathlib/mathlib.h>
#include "uORBDeviceNode.hpp"
#include "uORBManager.hpp"
@@ -124,17 +125,19 @@ public:
*/
bool copy(void *dst) { return advertised() ? _node->copy(dst, _last_generation) : false; }
uint8_t get_instance() const { return _instance; }
orb_id_t get_topic() const { return get_orb_meta(_orb_id); }
ORB_PRIO get_priority() { return advertised() ? _node->get_priority() : ORB_PRIO_UNINITIALIZED; }
uint8_t get_instance() const { return _instance; }
unsigned get_last_generation() const { return _last_generation; }
ORB_PRIO get_priority() { return advertised() ? _node->get_priority() : ORB_PRIO_UNINITIALIZED; }
orb_id_t get_topic() const { return get_orb_meta(_orb_id); }
protected:
friend class SubscriptionCallback;
friend class SubscriptionCallbackWorkItem;
DeviceNode *get_node() { return _node; }
DeviceNode *get_node() { return _node; }
DeviceNode *_node{nullptr};
DeviceNode *_node{nullptr};
unsigned _last_generation{0}; /**< last generation the subscriber has seen */
src/modules/uORB/SubscriptionCallback.hpp
+19 -3
View File
@@ -127,14 +127,30 @@ public:
void call() override
{
// schedule immediately if no interval, otherwise check time elapsed
if ((_interval_us == 0) || (hrt_elapsed_time_atomic(&_last_update) >= _interval_us)) {
_work_item->ScheduleNow();
// schedule immediately if updated (queue depth or subscription interval)
if ((_required_updates == 0)
|| (_subscription.get_node()->published_message_count() >= (_subscription.get_last_generation() + _required_updates))) {
if (updated()) {
_work_item->ScheduleNow();
}
}
}
/**
* Optionally limit callback until more samples are available.
*
* @param required_updates Number of queued updates required before a callback can be called.
*/
void set_required_updates(uint8_t required_updates)
{
// TODO: constrain to queue depth?
_required_updates = required_updates;
}
private:
px4::WorkItem *_work_item;
uint8_t _required_updates{0};
};
} // namespace uORB