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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/sensors/sensors.cpp
+3 -3
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@@ -117,10 +117,11 @@ private:
sensor_combined_s _sensor_combined{};
uORB::SubscriptionCallbackWorkItem _vehicle_imu_sub[3] {
uORB::SubscriptionCallbackWorkItem _vehicle_imu_sub[MAX_SENSOR_COUNT] {
{this, ORB_ID(vehicle_imu), 0},
{this, ORB_ID(vehicle_imu), 1},
{this, ORB_ID(vehicle_imu), 2}
{this, ORB_ID(vehicle_imu), 2},
{this, ORB_ID(vehicle_imu), 3}
};
uORB::Subscription _diff_pres_sub{ORB_ID(differential_pressure)};
@@ -175,7 +176,6 @@ private:
VehicleMagnetometer *_vehicle_magnetometer{nullptr};
VehicleGPSPosition *_vehicle_gps_position{nullptr};
static constexpr int MAX_SENSOR_COUNT = 3;
VehicleIMU *_vehicle_imu_list[MAX_SENSOR_COUNT] {};