WIP on moving to generated sensor messagessensors_multi_2

6 files changed, 24 insertions, 30 deletions

diff --git a/msg/gyro_report.msg b/msg/gyro_report.msg
new file mode 100644
index 000000000..654019b6a
--- /dev/null
+++ b/msg/gyro_report.msg
@@ -0,0 +1,17 @@
+#
+# Gyro report structure.  Reads from the device must be in multiples of this
+# structure.
+#
+uint64 timestamp	# Microseconds since system boot
+uint64 error_count
+float32 x		# angular velocity in the NED X board axis in rad/s
+float32 y		# angular velocity in the NED Y board axis in rad/s
+float32 z		# angular velocity in the NED Z board axis in rad/s
+float32 temperature;	# temperature in degrees celcius
+float32 range_rad_s;
+float32 scaling;
+
+int16 x_raw;
+int16 y_raw;
+int16 z_raw;
+int16 temperature_raw;
diff --git a/msg/sensor_combined.msg b/msg/sensor_combined.msg
new file mode 100644
index 000000000..b2d5cd4cb
--- /dev/null
+++ b/msg/sensor_combined.msg
@@ -0,0 +1,3 @@
+
+uint64 timestamp
+px4/gyro_report[3] gyro
\ No newline at end of file
diff --git a/src/drivers/drv_gyro.h b/src/drivers/drv_gyro.h
index 122d20415..1e8993d34 100644
--- a/src/drivers/drv_gyro.h
+++ b/src/drivers/drv_gyro.h
@@ -44,33 +44,12 @@
 #include <sys/ioctl.h>
 
 #include "drv_sensor.h"
-#include "drv_orb_dev.h"
 
 #define GYRO_BASE_DEVICE_PATH	"/dev/gyro"
 #define GYRO0_DEVICE_PATH	"/dev/gyro0"
 #define GYRO1_DEVICE_PATH	"/dev/gyro1"
 #define GYRO2_DEVICE_PATH	"/dev/gyro2"
 
-/**
- * gyro report structure.  Reads from the device must be in multiples of this
- * structure.
- */
-struct gyro_report {
-	uint64_t timestamp;
-	uint64_t error_count;
-	float x;		/**< angular velocity in the NED X board axis in rad/s */
-	float y;		/**< angular velocity in the NED Y board axis in rad/s */
-	float z;		/**< angular velocity in the NED Z board axis in rad/s */
-	float temperature;	/**< temperature in degrees celcius */
-	float range_rad_s;
-	float scaling;
-
-	int16_t x_raw;
-	int16_t y_raw;
-	int16_t z_raw;
-	int16_t temperature_raw;
-};
-
 /** gyro scaling factors; Vout = (Vin * Vscale) + Voffset */
 struct gyro_scale {
 	float	x_offset;
@@ -82,11 +61,6 @@ struct gyro_scale {
 };
 
 /*
- * ObjDev tag for raw gyro data.
- */
-ORB_DECLARE(sensor_gyro);
-
-/*
  * ioctl() definitions
  */
 
diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp
index 4aa05a980..36dfd5dda 100644
--- a/src/drivers/mpu6000/mpu6000.cpp
+++ b/src/drivers/mpu6000/mpu6000.cpp
@@ -482,7 +482,7 @@ private:
 extern "C" { __EXPORT int mpu6000_main(int argc, char *argv[]); }
 
 MPU6000::MPU6000(int bus, const char *path_accel, const char *path_gyro, spi_dev_e device, enum Rotation rotation) :
-	SPI("MPU6000", path_accel, bus, device, SPIDEV_MODE3, MPU6000_LOW_BUS_SPEED),
+	SPI("MPU6000", path_accel, bus, device, SPIDEV_MODE3, MPU6000_HIGH_BUS_SPEED),
 	_gyro(new MPU6000_gyro(this, path_gyro)),
 	_product(0),
 	_call{},
@@ -658,6 +658,7 @@ out:
 
 int MPU6000::reset()
 {
+	set_frequency(MPU6000_LOW_BUS_SPEED);
 	// if the mpu6000 is initialised after the l3gd20 and lsm303d
 	// then if we don't do an irqsave/irqrestore here the mpu6000
 	// frequenctly comes up in a bad state where all transfers
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
index 0bdc285e7..6f3597161 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
@@ -62,7 +62,6 @@
 #include <poll.h>
 #include <time.h>
 #include <drivers/drv_hrt.h>
-#include <drivers/drv_accel.h>
 #include <arch/board/board.h>
 #include <uORB/uORB.h>
 #include <uORB/topics/airspeed.h>
diff --git a/src/modules/uORB/topics/sensor_combined.h b/src/modules/uORB/topics/sensor_combined.h
index ded82adea..a2f9135a7 100644
--- a/src/modules/uORB/topics/sensor_combined.h
+++ b/src/modules/uORB/topics/sensor_combined.h
@@ -91,8 +91,8 @@ struct sensor_combined_s {
 	uint64_t accelerometer_timestamp;	/**< Accelerometer timestamp        */
 	unsigned accelerometer_errcount;	/**< Error counter for accel 0 */
 
-	int16_t	magnetometer_raw[3];		/**< Raw magnetic field in NED body frame         */
-	float magnetometer_ga[3];		/**< Magnetic field in NED body frame, in Gauss   */
+	int16_t	magnetometer_raw[3][3];		/**< Raw magnetic field in NED body frame         */
+	float magnetometer_ga[3][3];		/**< Magnetic field in NED body frame, in Gauss   */
 	int magnetometer_mode;			/**< Magnetometer measurement mode */
 	float magnetometer_range_ga;		/**< ± measurement range in Gauss */
 	float magnetometer_cuttoff_freq_hz;	/**< Internal analog low pass frequency of sensor */