fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 03:03:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Add gyro clipping to mirror accel clipping monitoring instances.

Browse Source
This commit is contained in:
mcsauder
2022-05-18 21:16:05 -04:00
committed by Daniel Agar
parent ea10eacb99
commit e8da98fd14
10 changed files with 126 additions and 30 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/sensors/voted_sensors_update.cpp
+8 -4
View File
@@ -172,6 +172,7 @@ void VotedSensorsUpdate::imuPoll(struct sensor_combined_s &raw)
_last_sensor_data[uorb_index].gyro_rad[1] = gyro_rate(1);
_last_sensor_data[uorb_index].gyro_rad[2] = gyro_rate(2);
_last_sensor_data[uorb_index].gyro_integral_dt = imu_report.delta_angle_dt;
_last_sensor_data[uorb_index].gyro_clipping = imu_report.delta_angle_clipping;
_last_sensor_data[uorb_index].accel_calibration_count = imu_report.accel_calibration_count;
_last_sensor_data[uorb_index].gyro_calibration_count = imu_report.gyro_calibration_count;
@@ -229,11 +230,14 @@ void VotedSensorsUpdate::imuPoll(struct sensor_combined_s &raw)
memcpy(&raw.accelerometer_m_s2, &_last_sensor_data[accel_best_index].accelerometer_m_s2,
sizeof(raw.accelerometer_m_s2));
memcpy(&raw.gyro_rad, &_last_sensor_data[gyro_best_index].gyro_rad, sizeof(raw.gyro_rad));
raw.accelerometer_integral_dt = _last_sensor_data[accel_best_index].accelerometer_integral_dt;
raw.gyro_integral_dt = _last_sensor_data[gyro_best_index].gyro_integral_dt;
raw.accelerometer_clipping = _last_sensor_data[accel_best_index].accelerometer_clipping;
raw.accel_calibration_count = _last_sensor_data[accel_best_index].accel_calibration_count;
raw.gyro_calibration_count = _last_sensor_data[gyro_best_index].gyro_calibration_count;
raw.accelerometer_clipping = _last_sensor_data[accel_best_index].accelerometer_clipping;
raw.accel_calibration_count = _last_sensor_data[accel_best_index].accel_calibration_count;
raw.gyro_integral_dt = _last_sensor_data[gyro_best_index].gyro_integral_dt;
raw.gyro_clipping = _last_sensor_data[gyro_best_index].gyro_clipping;
raw.gyro_calibration_count = _last_sensor_data[gyro_best_index].gyro_calibration_count;
if ((accel_best_index != _accel.last_best_vote) || (_selection.accel_device_id != _accel_device_id[accel_best_index])) {
_accel.last_best_vote = (uint8_t)accel_best_index;