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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-03-16 13:47:26 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-03-16 13:47:26 +0100 |
commit | 717e1bd374e7710ce579e91c45852bbba906eba8 (patch) | |
tree | 1dbd5bce449a300af5d0f06e5cd7146747751b79 /src/modules/uORB/topics/sensor_combined.h | |
parent | eccbccb8261a7d5ed27ec3e7447cce570fdb5d2e (diff) | |
download | px4-firmware-717e1bd374e7710ce579e91c45852bbba906eba8.tar.gz px4-firmware-717e1bd374e7710ce579e91c45852bbba906eba8.tar.bz2 px4-firmware-717e1bd374e7710ce579e91c45852bbba906eba8.zip |
Removed stupid sensor counter, replaced it with much more useful timestamps
Diffstat (limited to 'src/modules/uORB/topics/sensor_combined.h')
-rw-r--r-- | src/modules/uORB/topics/sensor_combined.h | 17 |
1 files changed, 8 insertions, 9 deletions
diff --git a/src/modules/uORB/topics/sensor_combined.h b/src/modules/uORB/topics/sensor_combined.h index ad164555e..92812efd4 100644 --- a/src/modules/uORB/topics/sensor_combined.h +++ b/src/modules/uORB/topics/sensor_combined.h @@ -77,34 +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 */ + uint64_t timestamp; /**< Timestamp in microseconds since boot, from gyro */ int16_t gyro_raw[3]; /**< Raw sensor values of angular velocity */ - uint16_t gyro_counter; /**< Number of raw measurments taken */ float gyro_rad_s[3]; /**< Angular velocity in radian per seconds */ - + int16_t accelerometer_raw[3]; /**< Raw acceleration in NED body frame */ - uint32_t accelerometer_counter; /**< Number of raw acc measurements taken */ 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 */ int16_t magnetometer_raw[3]; /**< Raw magnetic field in NED body frame */ float magnetometer_ga[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 */ - uint32_t magnetometer_counter; /**< Number of raw mag measurements taken */ - + uint64_t magnetometer_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 */ float adc_voltage_v[4]; /**< ADC voltages of ADC Chan 10/11/12/13 or -1 */ float mcu_temp_celcius; /**< Internal temperature measurement of MCU */ - uint32_t baro_counter; /**< Number of raw baro measurements taken */ + uint64_t baro_timestamp; /**< Barometer timestamp */ - float differential_pressure_pa; /**< Airspeed sensor differential pressure */ - uint32_t differential_pressure_counter; /**< Number of raw differential pressure measurements taken */ + float differential_pressure_pa; /**< Airspeed sensor differential pressure */ + uint64_t differential_pressure_timestamp; /**< Last measurement timestamp */ }; /** |