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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-05 22:51:31 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-05 22:51:31 +0200 |
| commit | 96b348af9f78dc7ead79224c921fb7480aff168e (patch) | |
| tree | a5ff26f84812a2b121dd3f1dd624e82872f527aa /apps/uORB | |
| parent | 139cd091768c57272fe1f80d725d4a3a24d2e3d0 (diff) | |
| download | px4-firmware-96b348af9f78dc7ead79224c921fb7480aff168e.tar.gz px4-firmware-96b348af9f78dc7ead79224c921fb7480aff168e.tar.bz2 px4-firmware-96b348af9f78dc7ead79224c921fb7480aff168e.zip | |
Minor fixes to HMC driver, mag calibration done
Diffstat (limited to 'apps/uORB')
| -rw-r--r-- | apps/uORB/topics/sensor_combined.h | 50 |
1 files changed, 32 insertions, 18 deletions
diff --git a/apps/uORB/topics/sensor_combined.h b/apps/uORB/topics/sensor_combined.h index ecf5ea81d..8fae78858 100644 --- a/apps/uORB/topics/sensor_combined.h +++ b/apps/uORB/topics/sensor_combined.h @@ -51,6 +51,12 @@ * @{ */ +enum MAGNETOMETER_MODE { + MAGNETOMETER_MODE_NORMAL = 0, + MAGNETOMETER_MODE_POSITIVE_BIAS, + MAGNETOMETER_MODE_NEGATIVE_BIAS +}; + /** * Sensor readings in raw and SI-unit form. * @@ -71,25 +77,33 @@ struct sensor_combined_s { /* NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes Change with consideration only */ - uint64_t timestamp; /**< Timestamp in microseconds since boot LOGME */ + uint64_t timestamp; /**< Timestamp in microseconds since boot LOGME */ + + int16_t gyro_raw[3]; /**< Raw sensor values of angular velocity LOGME */ + uint16_t gyro_raw_counter; /**< Number of raw measurments taken LOGME */ + float gyro_rad_s[3]; /**< Angular velocity in radian per seconds LOGME */ + + int16_t accelerometer_raw[3]; /**< Raw acceleration in NED body frame LOGME */ + uint16_t accelerometer_raw_counter; /**< Number of raw acc measurements taken LOGME */ + float accelerometer_m_s2[3]; /**< Acceleration in NED body frame, in m/s^2 LOGME */ + int accelerometer_mode; /**< Accelerometer measurement mode */ + float accelerometer_range_m_s2; /**< Accelerometer measurement range in m/s^2 */ - int16_t gyro_raw[3]; /**< Raw sensor values of angular velocity LOGME */ - uint16_t gyro_raw_counter; /**< Number of raw measurments taken LOGME */ - float gyro_rad_s[3]; /**< Angular velocity in radian per seconds LOGME */ - int16_t accelerometer_raw[3]; /**< Raw acceleration in NED body frame LOGME */ - uint16_t accelerometer_raw_counter; /**< Number of raw acc measurements taken LOGME */ - float accelerometer_m_s2[3]; /**< Acceleration in NED body frame, in m/s^2 LOGME */ - int16_t magnetometer_raw[3]; /**< Raw magnetic field in NED body frame LOGME */ - float magnetometer_ga[3]; /**< Magnetic field in NED body frame, in Gauss LOGME */ - uint16_t magnetometer_raw_counter; /**< Number of raw mag measurements taken LOGME */ - float baro_pres_mbar; /**< Barometric pressure, already temp. comp. LOGME */ - float baro_alt_meter; /**< Altitude, already temp. comp. LOGME */ - float baro_temp_celcius; /**< Temperature in degrees celsius LOGME */ - float battery_voltage_v; /**< Battery voltage in volts, filtered LOGME */ - float adc_voltage_v[3]; /**< ADC voltages of ADC Chan 11/12/13 or -1 LOGME */ - uint16_t baro_raw_counter; /**< Number of raw baro measurements taken LOGME */ - uint16_t battery_voltage_counter; /**< Number of voltage measurements taken LOGME */ - bool battery_voltage_valid; /**< True if battery voltage can be measured LOGME */ + int16_t magnetometer_raw[3]; /**< Raw magnetic field in NED body frame LOGME */ + float magnetometer_ga[3]; /**< Magnetic field in NED body frame, in Gauss LOGME */ + 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 */ + uint16_t magnetometer_raw_counter; /**< Number of raw mag measurements taken LOGME */ + + float baro_pres_mbar; /**< Barometric pressure, already temp. comp. LOGME */ + float baro_alt_meter; /**< Altitude, already temp. comp. LOGME */ + float baro_temp_celcius; /**< Temperature in degrees celsius LOGME */ + float battery_voltage_v; /**< Battery voltage in volts, filtered LOGME */ + float adc_voltage_v[3]; /**< ADC voltages of ADC Chan 11/12/13 or -1 LOGME */ + uint16_t baro_raw_counter; /**< Number of raw baro measurements taken LOGME */ + uint16_t battery_voltage_counter; /**< Number of voltage measurements taken LOGME */ + bool battery_voltage_valid; /**< True if battery voltage can be measured LOGME */ }; |