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15 Commits
Author SHA1 Message Date
Beat Küng ab9e0aa524 sensors temp compensation: do an orb_copy to get the driver ID 
This removes the necessity, that the driver class ID matches the uorb topic
instance.

Also improve error handling & reporting
 2017-01-19 19:24:52 +01:00
Beat Küng fd48d9c190 sensors: print status of temp compensation with 'sensors status' 2017-01-19 19:24:52 +01:00
Beat Küng 117826a31f sensors temp compensation: refactor into a separate class 
- reduces some code duplication
- provides clear API & separation for temp compensation

additional changes:
- added timestamp to sensor_correction topic
- reduced its publication rate, to only when voting index or scales or
  offsets change (if there is more than 1deg change in temperature)
 2017-01-19 19:24:52 +01:00
Beat Küng f38843278d voted_sensors_update: make msl_pressure static const 2017-01-19 19:24:52 +01:00
Beat Küng 535b1ea0dd voted_sensors_update: simplify accel & gyro poll methods 2017-01-19 19:24:52 +01:00
Beat Küng bbd47389e0 voted_sensors_update: fix copy paste naming mistake 2017-01-19 19:24:52 +01:00
Beat Küng 0765ed552c sensor_correction.msg rename {gyro,accel,baro}_select to match uORB convention 2017-01-19 19:24:52 +01:00
Paul Riseborough 0485c2b94a sensors: add baro pressure temperature compensation and reporting 2017-01-19 19:24:52 +01:00
Paul Riseborough 63f032832f Add prototype IMU temperature compensation 
Enabled using TC_A_ENABLE and TC_G_ENABLE parameters
Disabled by default.
IMU offsets and scale factors for selected sensor published to sensor_correction topic
TODO Parameter storage method is cumbersome
 2017-01-19 19:24:52 +01:00
Lorenz Meier a6696d339d Sensors app: Fix consistency checks. 
The sensors app assumed that all topics are published on boot which is not necessarily true and it assumed that all publications had valid data. This change ensures that topics are initialized as they update the first time and that the consistency check only runs on topics which carry valid data.
 2016-12-30 00:06:04 +01:00
Lorenz Meier c91f827072 sensors app: Always run validator so it gets updated and can detect timeouts 2016-12-19 20:34:52 +01:00
Lorenz Meier fe5cc5622b Failover logging in sensors app: Trim down strings 2016-12-19 20:34:52 +01:00
Lorenz Meier cc7db94edc Sensors app mag voter: Increase stale value detection threshold to accomodate low-noise mag setups 2016-12-19 20:34:52 +01:00
Beat Küng 66925bc065 voted_senors_update: fix style after rebase 2016-12-14 19:57:54 +01:00
Beat Küng d4da626e78 sensors: move sensors with voting into a separate class 2016-12-14 19:57:54 +01:00