fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-20 07:03:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

voted_sensors_update: refactor out matrix:: because of using namespace

Browse Source
This commit is contained in:
Matthias Grob
2019-08-07 18:44:39 +02:00
committed by Lorenz Meier
parent 45187e1aa8
commit fe37ee2b7f
1 changed files with 16 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/sensors/voted_sensors_update.cpp
+16 -16
View File
@@ -133,10 +133,10 @@ void VotedSensorsUpdate::deinit()
void VotedSensorsUpdate::parameters_update() void VotedSensorsUpdate::parameters_update()
{ {
/* fine tune board offset */ /* fine tune board offset */
matrix::Dcmf board_rotation_offset = matrix::Eulerf( Dcmf board_rotation_offset = Eulerf(
M_DEG_TO_RAD_F * _parameters.board_offset[0], M_DEG_TO_RAD_F * _parameters.board_offset[0],
M_DEG_TO_RAD_F * _parameters.board_offset[1], M_DEG_TO_RAD_F * _parameters.board_offset[1],
M_DEG_TO_RAD_F * _parameters.board_offset[2]); M_DEG_TO_RAD_F * _parameters.board_offset[2]);
_board_rotation = board_rotation_offset * get_rot_matrix((enum Rotation)_parameters.board_rotation); _board_rotation = board_rotation_offset * get_rot_matrix((enum Rotation)_parameters.board_rotation);
@@ -557,7 +557,7 @@ void VotedSensorsUpdate::accel_poll(struct sensor_combined_s &raw)
_accel_device_id[uorb_index] = accel_report.device_id; _accel_device_id[uorb_index] = accel_report.device_id;
matrix::Vector3f accel_data; Vector3f accel_data;
if (accel_report.integral_dt != 0) { if (accel_report.integral_dt != 0) {
/* /*
@@ -569,9 +569,9 @@ void VotedSensorsUpdate::accel_poll(struct sensor_combined_s &raw)
// convert the delta velocities to an equivalent acceleration before application of corrections // convert the delta velocities to an equivalent acceleration before application of corrections
float dt_inv = 1.e6f / accel_report.integral_dt; float dt_inv = 1.e6f / accel_report.integral_dt;
accel_data = matrix::Vector3f(accel_report.x_integral * dt_inv, accel_data = Vector3f(accel_report.x_integral * dt_inv,
accel_report.y_integral * dt_inv, accel_report.y_integral * dt_inv,
accel_report.z_integral * dt_inv); accel_report.z_integral * dt_inv);
_last_sensor_data[uorb_index].accelerometer_integral_dt = accel_report.integral_dt; _last_sensor_data[uorb_index].accelerometer_integral_dt = accel_report.integral_dt;
@@ -580,7 +580,7 @@ void VotedSensorsUpdate::accel_poll(struct sensor_combined_s &raw)
// Correct each sensor for temperature effects // Correct each sensor for temperature effects
// Filtering and/or downsampling of temperature should be performed in the driver layer // Filtering and/or downsampling of temperature should be performed in the driver layer
accel_data = matrix::Vector3f(accel_report.x, accel_report.y, accel_report.z); accel_data = Vector3f(accel_report.x, accel_report.y, accel_report.z);
// handle the cse where this is our first output // handle the cse where this is our first output
if (_last_accel_timestamp[uorb_index] == 0) { if (_last_accel_timestamp[uorb_index] == 0) {
@@ -664,7 +664,7 @@ void VotedSensorsUpdate::gyro_poll(struct sensor_combined_s &raw)
_gyro_device_id[uorb_index] = gyro_report.device_id; _gyro_device_id[uorb_index] = gyro_report.device_id;
matrix::Vector3f gyro_rate; Vector3f gyro_rate;
if (gyro_report.integral_dt != 0) { if (gyro_report.integral_dt != 0) {
/* /*
@@ -676,9 +676,9 @@ void VotedSensorsUpdate::gyro_poll(struct sensor_combined_s &raw)
// convert the delta angles to an equivalent angular rate before application of corrections // convert the delta angles to an equivalent angular rate before application of corrections
float dt_inv = 1.e6f / gyro_report.integral_dt; float dt_inv = 1.e6f / gyro_report.integral_dt;
gyro_rate = matrix::Vector3f(gyro_report.x_integral * dt_inv, gyro_rate = Vector3f(gyro_report.x_integral * dt_inv,
gyro_report.y_integral * dt_inv, gyro_report.y_integral * dt_inv,
gyro_report.z_integral * dt_inv); gyro_report.z_integral * dt_inv);
_last_sensor_data[uorb_index].gyro_integral_dt = gyro_report.integral_dt; _last_sensor_data[uorb_index].gyro_integral_dt = gyro_report.integral_dt;
@@ -687,7 +687,7 @@ void VotedSensorsUpdate::gyro_poll(struct sensor_combined_s &raw)
// Correct each sensor for temperature effects // Correct each sensor for temperature effects
// Filtering and/or downsampling of temperature should be performed in the driver layer // Filtering and/or downsampling of temperature should be performed in the driver layer
gyro_rate = matrix::Vector3f(gyro_report.x, gyro_report.y, gyro_report.z); gyro_rate = Vector3f(gyro_report.x, gyro_report.y, gyro_report.z);
// handle the case where this is our first output // handle the case where this is our first output
if (_last_sensor_data[uorb_index].timestamp == 0) { if (_last_sensor_data[uorb_index].timestamp == 0) {
@@ -770,7 +770,7 @@ void VotedSensorsUpdate::mag_poll(vehicle_magnetometer_s &magnetometer)
parameters_update(); parameters_update();
} }
matrix::Vector3f vect(mag_report.x, mag_report.y, mag_report.z); Vector3f vect(mag_report.x, mag_report.y, mag_report.z);
vect = _mag_rotation[uorb_index] * vect; vect = _mag_rotation[uorb_index] * vect;
_last_magnetometer[uorb_index].timestamp = mag_report.timestamp; _last_magnetometer[uorb_index].timestamp = mag_report.timestamp;
@@ -834,7 +834,7 @@ void VotedSensorsUpdate::baro_poll(vehicle_air_data_s &airdata)
_baro_device_id[uorb_index] = baro_report.device_id; _baro_device_id[uorb_index] = baro_report.device_id;
got_update = true; got_update = true;
matrix::Vector3f vect(baro_report.pressure, baro_report.temperature, 0.f); Vector3f vect(baro_report.pressure, baro_report.temperature, 0.f);
_last_airdata[uorb_index].timestamp = baro_report.timestamp; _last_airdata[uorb_index].timestamp = baro_report.timestamp;
_last_airdata[uorb_index].baro_temp_celcius = baro_report.temperature; _last_airdata[uorb_index].baro_temp_celcius = baro_report.temperature;