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sensors: allow up to 4 accels, gyros, and baros and add configurable rotations for accel & gyro

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This commit is contained in:
Daniel Agar
2020-10-08 19:01:44 -04:00
committed by GitHub
parent 28956e0399
commit eecf2e7a1e
47 changed files with 2881 additions and 1163 deletions
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src/lib/sensor_calibration/Accelerometer.hpp
+6 -2
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@@ -45,10 +45,10 @@ namespace calibration
class Accelerometer
{
public:
static constexpr int MAX_SENSOR_COUNT = 3;
static constexpr int MAX_SENSOR_COUNT = 4;
static constexpr uint8_t DEFAULT_PRIORITY = 50;
static constexpr uint8_t DEFAULT_EXTERNAL_PRIORITY = 75;
static constexpr uint8_t DEFAULT_EXTERNAL_PRIORITY = 25;
static constexpr const char *SensorString() { return "ACC"; }
@@ -64,6 +64,7 @@ public:
void set_external(bool external = true);
void set_offset(const matrix::Vector3f &offset) { _offset = offset; }
void set_scale(const matrix::Vector3f &scale) { _scale = scale; }
void set_rotation(Rotation rotation);
uint8_t calibration_count() const { return _calibration_count; }
uint32_t device_id() const { return _device_id; }
@@ -71,6 +72,7 @@ public:
bool external() const { return _external; }
const int32_t &priority() const { return _priority; }
const matrix::Dcmf &rotation() const { return _rotation; }
const Rotation &rotation_enum() const { return _rotation_enum; }
// apply offsets and scale
// rotate corrected measurements from sensor to body frame
@@ -89,6 +91,8 @@ public:
private:
uORB::Subscription _sensor_correction_sub{ORB_ID(sensor_correction)};
Rotation _rotation_enum{ROTATION_NONE};
matrix::Dcmf _rotation;
matrix::Vector3f _offset;
matrix::Vector3f _scale;