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sensor combined topic: Copy error count field along

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Lorenz Meier 2015-02-03 13:51:00 +01:00
parent a27395a15d
commit ec040fa3ac
2 changed files with 14 additions and 9 deletions
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5
src/modules/ekf_att_pos_estimator/estimator_22states.cpp
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@ -2355,11 +2355,6 @@ int AttPosEKF::RecallStates(float* statesForFusion, uint64_t msec)
}
}
float q[4];
float eul[3];
eul2quat(q, eul);
return ret;
}

18
src/modules/uORB/topics/sensor_combined.h
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@ -1,9 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -37,6 +34,10 @@
/**
* @file sensor_combined.h
* Definition of the sensor_combined uORB topic.
*
* @author Thomas Gubler <thomas@px4.io>
* @author Julian Oes <julian@px4.io>
* @author Lorenz Meier <lorenz@px4.io>
*/
#ifndef SENSOR_COMBINED_H_
@ -81,12 +82,14 @@ struct sensor_combined_s {
int16_t gyro_raw[3]; /**< Raw sensor values of angular velocity */
float gyro_rad_s[3]; /**< Angular velocity in radian per seconds */
unsigned gyro_errcount; /**< Error counter for gyro 0 */
int16_t accelerometer_raw[3]; /**< Raw acceleration in NED body frame */
float accelerometer_m_s2[3]; /**< Acceleration in NED body frame, in m/s^2 */
int accelerometer_mode; /**< Accelerometer measurement mode */
float accelerometer_range_m_s2; /**< Accelerometer measurement range in m/s^2 */
uint64_t accelerometer_timestamp; /**< Accelerometer timestamp */
unsigned accelerometer_errcount; /**< Error counter for accel 0 */
int16_t magnetometer_raw[3]; /**< Raw magnetic field in NED body frame */
float magnetometer_ga[3]; /**< Magnetic field in NED body frame, in Gauss */
@ -94,30 +97,37 @@ struct sensor_combined_s {
float magnetometer_range_ga; /**< ± measurement range in Gauss */
float magnetometer_cuttoff_freq_hz; /**< Internal analog low pass frequency of sensor */
uint64_t magnetometer_timestamp; /**< Magnetometer timestamp */
unsigned magnetometer_errcount; /**< Error counter for mag 0 */
int16_t gyro1_raw[3]; /**< Raw sensor values of angular velocity */
float gyro1_rad_s[3]; /**< Angular velocity in radian per seconds */
uint64_t gyro1_timestamp; /**< Gyro timestamp */
unsigned gyro1_errcount; /**< Error counter for gyro 1 */
int16_t accelerometer1_raw[3]; /**< Raw acceleration in NED body frame */
float accelerometer1_m_s2[3]; /**< Acceleration in NED body frame, in m/s^2 */
uint64_t accelerometer1_timestamp; /**< Accelerometer timestamp */
unsigned accelerometer1_errcount; /**< Error counter for accel 1 */
int16_t magnetometer1_raw[3]; /**< Raw magnetic field in NED body frame */
float magnetometer1_ga[3]; /**< Magnetic field in NED body frame, in Gauss */
uint64_t magnetometer1_timestamp; /**< Magnetometer timestamp */
unsigned magnetometer1_errcount; /**< Error counter for mag 0 */
int16_t gyro2_raw[3]; /**< Raw sensor values of angular velocity */
float gyro2_rad_s[3]; /**< Angular velocity in radian per seconds */
uint64_t gyro2_timestamp; /**< Gyro timestamp */
unsigned gyro2_errcount; /**< Error counter for gyro 1 */
int16_t accelerometer2_raw[3]; /**< Raw acceleration in NED body frame */
float accelerometer2_m_s2[3]; /**< Acceleration in NED body frame, in m/s^2 */
uint64_t accelerometer2_timestamp; /**< Accelerometer timestamp */
unsigned accelerometer2_errcount; /**< Error counter for accel 2 */
int16_t magnetometer2_raw[3]; /**< Raw magnetic field in NED body frame */
float magnetometer2_ga[3]; /**< Magnetic field in NED body frame, in Gauss */
uint64_t magnetometer2_timestamp; /**< Magnetometer timestamp */
unsigned magnetometer2_errcount; /**< Error counter for mag 2 */
float baro_pres_mbar; /**< Barometric pressure, already temp. comp. */
float baro_alt_meter; /**< Altitude, already temp. comp. */