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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-15 23:18:04 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-15 23:18:04 +0200 |
| commit | 64e33b8896d717f73a1b1ad3189b97c98c9bddfd (patch) | |
| tree | 86067e3f9f3e8975be009d7f655a2bfa77ad3986 | |
| parent | 65367f7a99907fbd6a204ba44ee443816c635482 (diff) | |
| download | px4-firmware-64e33b8896d717f73a1b1ad3189b97c98c9bddfd.tar.gz px4-firmware-64e33b8896d717f73a1b1ad3189b97c98c9bddfd.tar.bz2 px4-firmware-64e33b8896d717f73a1b1ad3189b97c98c9bddfd.zip | |
uORB: Support up to three topics per sensor
| -rw-r--r-- | src/modules/uORB/objects_common.cpp | 3 | ||||
| -rw-r--r-- | src/modules/uORB/topics/sensor_combined.h | 24 |
2 files changed, 27 insertions, 0 deletions
diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp index 679d6ea4f..08c3ce1ac 100644 --- a/src/modules/uORB/objects_common.cpp +++ b/src/modules/uORB/objects_common.cpp @@ -48,14 +48,17 @@ #include <drivers/drv_mag.h> ORB_DEFINE(sensor_mag0, struct mag_report); ORB_DEFINE(sensor_mag1, struct mag_report); +ORB_DEFINE(sensor_mag2, struct mag_report); #include <drivers/drv_accel.h> ORB_DEFINE(sensor_accel0, struct accel_report); ORB_DEFINE(sensor_accel1, struct accel_report); +ORB_DEFINE(sensor_accel2, struct accel_report); #include <drivers/drv_gyro.h> ORB_DEFINE(sensor_gyro0, struct gyro_report); ORB_DEFINE(sensor_gyro1, struct gyro_report); +ORB_DEFINE(sensor_gyro2, struct gyro_report); #include <drivers/drv_baro.h> ORB_DEFINE(sensor_baro0, struct baro_report); diff --git a/src/modules/uORB/topics/sensor_combined.h b/src/modules/uORB/topics/sensor_combined.h index fa3367de9..06dfcdab3 100644 --- a/src/modules/uORB/topics/sensor_combined.h +++ b/src/modules/uORB/topics/sensor_combined.h @@ -95,6 +95,30 @@ struct sensor_combined_s { float magnetometer_cuttoff_freq_hz; /**< Internal analog low pass frequency of sensor */ uint64_t magnetometer_timestamp; /**< Magnetometer timestamp */ + int16_t gyro1_raw[3]; /**< Raw sensor values of angular velocity */ + float gyro1_rad_s[3]; /**< Angular velocity in radian per seconds */ + uint64_t gyro1_timestamp; /**< Gyro timestamp */ + + int16_t accelerometer1_raw[3]; /**< Raw acceleration in NED body frame */ + float accelerometer1_m_s2[3]; /**< Acceleration in NED body frame, in m/s^2 */ + uint64_t accelerometer1_timestamp; /**< Accelerometer timestamp */ + + int16_t magnetometer1_raw[3]; /**< Raw magnetic field in NED body frame */ + float magnetometer1_ga[3]; /**< Magnetic field in NED body frame, in Gauss */ + uint64_t magnetometer1_timestamp; /**< Magnetometer timestamp */ + + int16_t gyro2_raw[3]; /**< Raw sensor values of angular velocity */ + float gyro2_rad_s[3]; /**< Angular velocity in radian per seconds */ + uint64_t gyro2_timestamp; /**< Gyro timestamp */ + + int16_t accelerometer2_raw[3]; /**< Raw acceleration in NED body frame */ + float accelerometer2_m_s2[3]; /**< Acceleration in NED body frame, in m/s^2 */ + uint64_t accelerometer2_timestamp; /**< Accelerometer timestamp */ + + int16_t magnetometer2_raw[3]; /**< Raw magnetic field in NED body frame */ + float magnetometer2_ga[3]; /**< Magnetic field in NED body frame, in Gauss */ + uint64_t magnetometer2_timestamp; /**< Magnetometer timestamp */ + float baro_pres_mbar; /**< Barometric pressure, already temp. comp. */ float baro_alt_meter; /**< Altitude, already temp. comp. */ float baro_temp_celcius; /**< Temperature in degrees celsius */ |