diff options
| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-07-17 09:13:00 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-07-17 09:13:00 +0200 |
| commit | 8bb1f9a4bf3fae0cf8db9a598b4fb1036a9514dd (patch) | |
| tree | 88f778c5464aab1c5d9770515acd8fb46b388b42 /src/modules/uORB | |
| parent | f4608707389dbc30eb25db524d6e008c8033d052 (diff) | |
| parent | 23c82c2dd809aa9a7f5664bfcfe6c7b6576efb64 (diff) | |
| download | px4-firmware-8bb1f9a4bf3fae0cf8db9a598b4fb1036a9514dd.tar.gz px4-firmware-8bb1f9a4bf3fae0cf8db9a598b4fb1036a9514dd.tar.bz2 px4-firmware-8bb1f9a4bf3fae0cf8db9a598b4fb1036a9514dd.zip | |
Merge remote-tracking branch 'upstream/master' into offboard2_externalsetpointmessages
Diffstat (limited to 'src/modules/uORB')
| -rw-r--r-- | src/modules/uORB/objects_common.cpp | 15 | ||||
| -rw-r--r-- | src/modules/uORB/topics/sensor_combined.h | 24 |
2 files changed, 35 insertions, 4 deletions
diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp index c5831462b..08c3ce1ac 100644 --- a/src/modules/uORB/objects_common.cpp +++ b/src/modules/uORB/objects_common.cpp @@ -46,16 +46,23 @@ #include <drivers/drv_orb_dev.h> #include <drivers/drv_mag.h> -ORB_DEFINE(sensor_mag, struct mag_report); +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_accel, struct accel_report); +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_gyro, struct gyro_report); +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_baro, struct baro_report); +ORB_DEFINE(sensor_baro0, struct baro_report); +ORB_DEFINE(sensor_baro1, struct baro_report); #include <drivers/drv_range_finder.h> ORB_DEFINE(sensor_range_finder, struct range_finder_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 */ |