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author | Lorenz Meier <lm@inf.ethz.ch> | 2015-02-03 13:51:00 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-02-09 22:56:24 +0100 |
commit | ec040fa3ac611a0519fdc3afd4dc1091eab538e4 (patch) | |
tree | 3b6e709e27dc4874c775eedc6cbc1c0ed6a552f3 | |
parent | a27395a15d110e2fe1272ad49ca8589278977701 (diff) | |
download | px4-firmware-ec040fa3ac611a0519fdc3afd4dc1091eab538e4.tar.gz px4-firmware-ec040fa3ac611a0519fdc3afd4dc1091eab538e4.tar.bz2 px4-firmware-ec040fa3ac611a0519fdc3afd4dc1091eab538e4.zip |
sensor combined topic: Copy error count field along
-rw-r--r-- | src/modules/ekf_att_pos_estimator/estimator_22states.cpp | 5 | ||||
-rw-r--r-- | src/modules/uORB/topics/sensor_combined.h | 18 |
2 files changed, 14 insertions, 9 deletions
diff --git a/src/modules/ekf_att_pos_estimator/estimator_22states.cpp b/src/modules/ekf_att_pos_estimator/estimator_22states.cpp index 1cc883d90..15d018ab6 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_22states.cpp +++ b/src/modules/ekf_att_pos_estimator/estimator_22states.cpp @@ -2355,11 +2355,6 @@ int AttPosEKF::RecallStates(float* statesForFusion, uint64_t msec) } } - float q[4]; - float eul[3]; - - eul2quat(q, eul); - return ret; } diff --git a/src/modules/uORB/topics/sensor_combined.h b/src/modules/uORB/topics/sensor_combined.h index 583a39ded..ded82adea 100644 --- a/src/modules/uORB/topics/sensor_combined.h +++ b/src/modules/uORB/topics/sensor_combined.h @@ -1,9 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. - * Author: @author Thomas Gubler <thomasgubler@student.ethz.ch> - * @author Julian Oes <joes@student.ethz.ch> - * @author Lorenz Meier <lm@inf.ethz.ch> + * Copyright (c) 2012-2015 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -37,6 +34,10 @@ /** * @file sensor_combined.h * Definition of the sensor_combined uORB topic. + * + * @author Thomas Gubler <thomas@px4.io> + * @author Julian Oes <julian@px4.io> + * @author Lorenz Meier <lorenz@px4.io> */ #ifndef SENSOR_COMBINED_H_ @@ -81,12 +82,14 @@ struct sensor_combined_s { int16_t gyro_raw[3]; /**< Raw sensor values of angular velocity */ float gyro_rad_s[3]; /**< Angular velocity in radian per seconds */ + unsigned gyro_errcount; /**< Error counter for gyro 0 */ int16_t accelerometer_raw[3]; /**< Raw acceleration in NED body frame */ float accelerometer_m_s2[3]; /**< Acceleration in NED body frame, in m/s^2 */ int accelerometer_mode; /**< Accelerometer measurement mode */ float accelerometer_range_m_s2; /**< Accelerometer measurement range in m/s^2 */ 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 */ @@ -94,30 +97,37 @@ struct sensor_combined_s { float magnetometer_range_ga; /**< ± measurement range in Gauss */ float magnetometer_cuttoff_freq_hz; /**< Internal analog low pass frequency of sensor */ uint64_t magnetometer_timestamp; /**< Magnetometer timestamp */ + unsigned magnetometer_errcount; /**< Error counter for mag 0 */ 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 */ + unsigned gyro1_errcount; /**< Error counter for gyro 1 */ 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 */ + unsigned accelerometer1_errcount; /**< Error counter for accel 1 */ 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 */ + unsigned magnetometer1_errcount; /**< Error counter for mag 0 */ 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 */ + unsigned gyro2_errcount; /**< Error counter for gyro 1 */ 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 */ + unsigned accelerometer2_errcount; /**< Error counter for accel 2 */ 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 */ + unsigned magnetometer2_errcount; /**< Error counter for mag 2 */ float baro_pres_mbar; /**< Barometric pressure, already temp. comp. */ float baro_alt_meter; /**< Altitude, already temp. comp. */ |