diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2015-02-14 16:03:46 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-02-14 16:03:46 +0100 |
| commit | 80568c065c15e2ae070f03f29cf0e8084970fc07 (patch) | |
| tree | af4c8949c4474411dea45920ad6ac7d6ec763ea8 | |
| parent | ae66195b06f1b576587243cbc921e8e8d5a0f96a (diff) | |
| download | px4-firmware-80568c065c15e2ae070f03f29cf0e8084970fc07.tar.gz px4-firmware-80568c065c15e2ae070f03f29cf0e8084970fc07.tar.bz2 px4-firmware-80568c065c15e2ae070f03f29cf0e8084970fc07.zip | |
Sensor app: Formatting, documentation and cleanup
| -rw-r--r-- | src/modules/sensors/sensors.cpp | 20 |
1 files changed, 7 insertions, 13 deletions
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 7d60bf563..b8b0c54ee 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -33,11 +33,17 @@ /** * @file sensors.cpp - * Sensor readout process. + * + * PX4 Flight Core transitional mapping layer. + * + * This app / class mapps the PX4 middleware layer / drivers to the application + * layer of the PX4 Flight Core. Individual sensors can be accessed directly as + * well instead of relying on the sensor_combined topic. * * @author Lorenz Meier <lorenz@px4.io> * @author Julian Oes <julian@px4.io> * @author Thomas Gubler <thomas@px4.io> + * @author Anton Babushkin <anton@px4.io> */ #include <nuttx/config.h> @@ -85,18 +91,6 @@ #include <uORB/topics/airspeed.h> #include <uORB/topics/rc_parameter_map.h> -#define GYRO_HEALTH_COUNTER_LIMIT_ERROR 20 /* 40 ms downtime at 500 Hz update rate */ -#define ACC_HEALTH_COUNTER_LIMIT_ERROR 20 /* 40 ms downtime at 500 Hz update rate */ -#define MAGN_HEALTH_COUNTER_LIMIT_ERROR 100 /* 1000 ms downtime at 100 Hz update rate */ -#define BARO_HEALTH_COUNTER_LIMIT_ERROR 50 /* 500 ms downtime at 100 Hz update rate */ -#define ADC_HEALTH_COUNTER_LIMIT_ERROR 10 /* 100 ms downtime at 100 Hz update rate */ - -#define GYRO_HEALTH_COUNTER_LIMIT_OK 5 -#define ACC_HEALTH_COUNTER_LIMIT_OK 5 -#define MAGN_HEALTH_COUNTER_LIMIT_OK 5 -#define BARO_HEALTH_COUNTER_LIMIT_OK 5 -#define ADC_HEALTH_COUNTER_LIMIT_OK 5 - /** * Analog layout: * FMU: |