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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/modules/commander/Arming/PreFlightCheck/PreFlightCheck.cpp
+3 -3
View File
@@ -47,13 +47,13 @@
using namespace time_literals;
static constexpr unsigned max_mandatory_gyro_count = 1;
static constexpr unsigned max_optional_gyro_count = 3;
static constexpr unsigned max_optional_gyro_count = 4;
static constexpr unsigned max_mandatory_accel_count = 1;
static constexpr unsigned max_optional_accel_count = 3;
static constexpr unsigned max_optional_accel_count = 4;
static constexpr unsigned max_mandatory_mag_count = 1;
static constexpr unsigned max_optional_mag_count = 4;
static constexpr unsigned max_mandatory_baro_count = 1;
static constexpr unsigned max_optional_baro_count = 1;
static constexpr unsigned max_optional_baro_count = 4;
bool PreFlightCheck::preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status,
vehicle_status_flags_s &status_flags, const bool checkGNSS, bool reportFailures, const bool prearm,
src/modules/commander/accelerometer_calibration.cpp
+8 -1
View File
@@ -149,7 +149,7 @@ using namespace matrix;
using namespace time_literals;
static constexpr char sensor_name[] {"accel"};
static constexpr unsigned MAX_ACCEL_SENS = 3;
static constexpr unsigned MAX_ACCEL_SENS = 4;
/// Data passed to calibration worker routine
typedef struct {
@@ -176,6 +176,7 @@ static calibrate_return read_accelerometer_avg(float (&accel_avg)[MAX_ACCEL_SENS
{ORB_ID(sensor_accel), 0, 0},
{ORB_ID(sensor_accel), 0, 1},
{ORB_ID(sensor_accel), 0, 2},
{ORB_ID(sensor_accel), 0, 3},
};
/* use the first sensor to pace the readout, but do per-sensor counts */
@@ -202,6 +203,9 @@ static calibrate_return read_accelerometer_avg(float (&accel_avg)[MAX_ACCEL_SENS
case 2:
offset = Vector3f{sensor_correction.accel_offset_2};
break;
case 3:
offset = Vector3f{sensor_correction.accel_offset_3};
break;
}
}
}
@@ -473,6 +477,9 @@ int do_accel_calibration_quick(orb_advert_t *mavlink_log_pub)
case 2:
offset = Vector3f{sensor_correction.accel_offset_2};
break;
case 3:
offset = Vector3f{sensor_correction.accel_offset_3};
break;
}
}
}
src/modules/commander/gyro_calibration.cpp
+5 -1
View File
@@ -59,7 +59,7 @@
#include <uORB/topics/sensor_gyro.h>
static constexpr char sensor_name[] {"gyro"};
static constexpr unsigned MAX_GYROS = 3;
static constexpr unsigned MAX_GYROS = 4;
using matrix::Vector3f;
@@ -101,6 +101,7 @@ static calibrate_return gyro_calibration_worker(gyro_worker_data_t &worker_data)
{ORB_ID(sensor_gyro), 0, 0},
{ORB_ID(sensor_gyro), 0, 1},
{ORB_ID(sensor_gyro), 0, 2},
{ORB_ID(sensor_gyro), 0, 3},
};
memset(&worker_data.last_sample_0_x, 0, sizeof(worker_data.last_sample_0_x));
@@ -148,6 +149,9 @@ static calibrate_return gyro_calibration_worker(gyro_worker_data_t &worker_data)
case 2:
offset = Vector3f{sensor_correction.gyro_offset_2};
break;
case 3:
offset = Vector3f{sensor_correction.gyro_offset_3};
break;
}
}
}