diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/drivers/drv_mag.h | 1 | ||||
| -rw-r--r-- | src/drivers/hmc5883/hmc5883.cpp | 3 | ||||
| -rw-r--r-- | src/drivers/lsm303d/lsm303d.cpp | 22 | ||||
| -rw-r--r-- | src/drivers/mpu6000/mpu6000.cpp | 124 | ||||
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 18 | ||||
| -rw-r--r-- | src/modules/sdlog2/module.mk | 2 | ||||
| -rw-r--r-- | src/modules/sdlog2/sdlog2.c | 68 | ||||
| -rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 9 | ||||
| -rw-r--r-- | src/modules/sensors/sensors.cpp | 9 | ||||
| -rw-r--r-- | src/modules/uORB/topics/sensor_combined.h | 11 |
10 files changed, 170 insertions, 97 deletions
diff --git a/src/drivers/drv_mag.h b/src/drivers/drv_mag.h index 7fcff9d38..ca33966b0 100644 --- a/src/drivers/drv_mag.h +++ b/src/drivers/drv_mag.h @@ -63,6 +63,7 @@ struct mag_report { float z; float range_ga; float scaling; + float temperature; int16_t x_raw; int16_t y_raw; diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp index 2b3520fc8..fd4d4cff5 100644 --- a/src/drivers/hmc5883/hmc5883.cpp +++ b/src/drivers/hmc5883/hmc5883.cpp @@ -927,6 +927,9 @@ HMC5883::collect() /* z remains z */ new_report.z = ((zraw_f * _range_scale) - _scale.z_offset) * _scale.z_scale; + /* this sensor does not measure temperature, output a constant value */ + new_report.temperature = 0.0f; + if (!(_pub_blocked)) { if (_mag_topic != -1) { diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp index 84f7fb5c8..e594c92a1 100644 --- a/src/drivers/lsm303d/lsm303d.cpp +++ b/src/drivers/lsm303d/lsm303d.cpp @@ -305,6 +305,9 @@ private: float _last_accel[3]; uint8_t _constant_accel_count; + // last temperature value + float _last_temperature; + // this is used to support runtime checking of key // configuration registers to detect SPI bus errors and sensor // reset @@ -567,6 +570,7 @@ LSM303D::LSM303D(int bus, const char* path, spi_dev_e device, enum Rotation rota _accel_filter_z(LSM303D_ACCEL_DEFAULT_RATE, LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), _rotation(rotation), _constant_accel_count(0), + _last_temperature(0), _checked_next(0) { @@ -711,7 +715,7 @@ LSM303D::reset() /* enable mag */ write_checked_reg(ADDR_CTRL_REG7, REG7_CONT_MODE_M); - write_checked_reg(ADDR_CTRL_REG5, REG5_RES_HIGH_M); + write_checked_reg(ADDR_CTRL_REG5, REG5_RES_HIGH_M | REG5_ENABLE_T); write_checked_reg(ADDR_CTRL_REG3, 0x04); // DRDY on ACCEL on INT1 write_checked_reg(ADDR_CTRL_REG4, 0x04); // DRDY on MAG on INT2 @@ -1507,6 +1511,9 @@ LSM303D::measure() accel_report.timestamp = hrt_absolute_time(); + // use the temperature from the last mag reading + accel_report.temperature = _last_temperature; + // report the error count as the sum of the number of bad // register reads and bad values. This allows the higher level // code to decide if it should use this sensor based on @@ -1588,6 +1595,7 @@ LSM303D::mag_measure() #pragma pack(push, 1) struct { uint8_t cmd; + int16_t temperature; uint8_t status; int16_t x; int16_t y; @@ -1603,7 +1611,7 @@ LSM303D::mag_measure() /* fetch data from the sensor */ memset(&raw_mag_report, 0, sizeof(raw_mag_report)); - raw_mag_report.cmd = ADDR_STATUS_M | DIR_READ | ADDR_INCREMENT; + raw_mag_report.cmd = ADDR_OUT_TEMP_L | DIR_READ | ADDR_INCREMENT; transfer((uint8_t *)&raw_mag_report, (uint8_t *)&raw_mag_report, sizeof(raw_mag_report)); /* @@ -1632,7 +1640,7 @@ LSM303D::mag_measure() float yraw_f = mag_report.y_raw; float zraw_f = mag_report.z_raw; - // apply user specified rotation + /* apply user specified rotation */ rotate_3f(_rotation, xraw_f, yraw_f, zraw_f); mag_report.x = ((xraw_f * _mag_range_scale) - _mag_scale.x_offset) * _mag_scale.x_scale; @@ -1642,9 +1650,14 @@ LSM303D::mag_measure() mag_report.range_ga = (float)_mag_range_ga; mag_report.error_count = perf_event_count(_bad_registers) + perf_event_count(_bad_values); + /* remember the temperature. The datasheet isn't clear, but it + * seems to be a signed offset from 25 degrees C in units of 0.125C + */ + _last_temperature = 25 + (raw_mag_report.temperature * 0.125f); + mag_report.temperature = _last_temperature; + _mag_reports->force(&mag_report); - /* XXX please check this poll_notify, is it the right one? */ /* notify anyone waiting for data */ poll_notify(POLLIN); @@ -1681,6 +1694,7 @@ LSM303D::print_info() (unsigned)_checked_values[i]); } } + ::printf("temperature: %.2f\n", (double)_last_temperature); } void diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp index eaf25a9f3..b6642e2bb 100644 --- a/src/drivers/mpu6000/mpu6000.cpp +++ b/src/drivers/mpu6000/mpu6000.cpp @@ -284,6 +284,9 @@ private: // self test volatile bool _in_factory_test; + // last temperature reading for print_info() + float _last_temperature; + /** * Start automatic measurement. */ @@ -359,7 +362,7 @@ private: * @param max_g The maximum G value the range must support. * @return OK if the value can be supported, -ERANGE otherwise. */ - int set_range(unsigned max_g); + int set_accel_range(unsigned max_g); /** * Swap a 16-bit value read from the MPU6000 to native byte order. @@ -518,7 +521,8 @@ MPU6000::MPU6000(int bus, const char *path_accel, const char *path_gyro, spi_dev _gyro_filter_z(MPU6000_GYRO_DEFAULT_RATE, MPU6000_GYRO_DEFAULT_DRIVER_FILTER_FREQ), _rotation(rotation), _checked_next(0), - _in_factory_test(false) + _in_factory_test(false), + _last_temperature(0) { // disable debug() calls _debug_enabled = false; @@ -713,37 +717,7 @@ int MPU6000::reset() _gyro_range_scale = (0.0174532 / 16.4);//1.0f / (32768.0f * (2000.0f / 180.0f) * M_PI_F); _gyro_range_rad_s = (2000.0f / 180.0f) * M_PI_F; - // product-specific scaling - switch (_product) { - case MPU6000ES_REV_C4: - case MPU6000ES_REV_C5: - case MPU6000_REV_C4: - case MPU6000_REV_C5: - // Accel scale 8g (4096 LSB/g) - // Rev C has different scaling than rev D - write_checked_reg(MPUREG_ACCEL_CONFIG, 1 << 3); - break; - - case MPU6000ES_REV_D6: - case MPU6000ES_REV_D7: - case MPU6000ES_REV_D8: - case MPU6000_REV_D6: - case MPU6000_REV_D7: - case MPU6000_REV_D8: - case MPU6000_REV_D9: - case MPU6000_REV_D10: - // default case to cope with new chip revisions, which - // presumably won't have the accel scaling bug - default: - // Accel scale 8g (4096 LSB/g) - write_checked_reg(MPUREG_ACCEL_CONFIG, 2 << 3); - break; - } - - // Correct accel scale factors of 4096 LSB/g - // scale to m/s^2 ( 1g = 9.81 m/s^2) - _accel_range_scale = (MPU6000_ONE_G / 4096.0f); - _accel_range_m_s2 = 8.0f * MPU6000_ONE_G; + set_accel_range(8); usleep(1000); @@ -1297,11 +1271,8 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg) return OK; case ACCELIOCSRANGE: - /* XXX not implemented */ - // XXX change these two values on set: - // _accel_range_scale = (9.81f / 4096.0f); - // _accel_range_m_s2 = 8.0f * 9.81f; - return -EINVAL; + return set_accel_range(arg); + case ACCELIOCGRANGE: return (unsigned long)((_accel_range_m_s2)/MPU6000_ONE_G + 0.5f); @@ -1451,44 +1422,46 @@ MPU6000::write_checked_reg(unsigned reg, uint8_t value) } int -MPU6000::set_range(unsigned max_g) +MPU6000::set_accel_range(unsigned max_g_in) { -#if 0 - uint8_t rangebits; - float rangescale; - - if (max_g > 16) { - return -ERANGE; - - } else if (max_g > 8) { /* 16G */ - rangebits = OFFSET_LSB1_RANGE_16G; - rangescale = 1.98; - - } else if (max_g > 4) { /* 8G */ - rangebits = OFFSET_LSB1_RANGE_8G; - rangescale = 0.99; - - } else if (max_g > 3) { /* 4G */ - rangebits = OFFSET_LSB1_RANGE_4G; - rangescale = 0.5; - - } else if (max_g > 2) { /* 3G */ - rangebits = OFFSET_LSB1_RANGE_3G; - rangescale = 0.38; - - } else if (max_g > 1) { /* 2G */ - rangebits = OFFSET_LSB1_RANGE_2G; - rangescale = 0.25; + // workaround for bugged versions of MPU6k (rev C) + switch (_product) { + case MPU6000ES_REV_C4: + case MPU6000ES_REV_C5: + case MPU6000_REV_C4: + case MPU6000_REV_C5: + write_checked_reg(MPUREG_ACCEL_CONFIG, 1 << 3); + _accel_range_scale = (MPU6000_ONE_G / 4096.0f); + _accel_range_m_s2 = 8.0f * MPU6000_ONE_G; + return OK; + } - } else { /* 1G */ - rangebits = OFFSET_LSB1_RANGE_1G; - rangescale = 0.13; + uint8_t afs_sel; + float lsb_per_g; + float max_accel_g; + + if (max_g_in > 8) { // 16g - AFS_SEL = 3 + afs_sel = 3; + lsb_per_g = 2048; + max_accel_g = 16; + } else if (max_g_in > 4) { // 8g - AFS_SEL = 2 + afs_sel = 2; + lsb_per_g = 4096; + max_accel_g = 8; + } else if (max_g_in > 2) { // 4g - AFS_SEL = 1 + afs_sel = 1; + lsb_per_g = 8192; + max_accel_g = 4; + } else { // 2g - AFS_SEL = 0 + afs_sel = 0; + lsb_per_g = 16384; + max_accel_g = 2; } - /* adjust sensor configuration */ - modify_reg(ADDR_OFFSET_LSB1, OFFSET_LSB1_RANGE_MASK, rangebits); - _range_scale = rangescale; -#endif + write_checked_reg(MPUREG_ACCEL_CONFIG, afs_sel << 3); + _accel_range_scale = (MPU6000_ONE_G / lsb_per_g); + _accel_range_m_s2 = max_accel_g * MPU6000_ONE_G; + return OK; } @@ -1729,8 +1702,10 @@ MPU6000::measure() arb.scaling = _accel_range_scale; arb.range_m_s2 = _accel_range_m_s2; + _last_temperature = (report.temp) / 361.0f + 35.0f; + arb.temperature_raw = report.temp; - arb.temperature = (report.temp) / 361.0f + 35.0f; + arb.temperature = _last_temperature; grb.x_raw = report.gyro_x; grb.y_raw = report.gyro_y; @@ -1755,7 +1730,7 @@ MPU6000::measure() grb.range_rad_s = _gyro_range_rad_s; grb.temperature_raw = report.temp; - grb.temperature = (report.temp) / 361.0f + 35.0f; + grb.temperature = _last_temperature; _accel_reports->force(&arb); _gyro_reports->force(&grb); @@ -1803,6 +1778,7 @@ MPU6000::print_info() (unsigned)_checked_values[i]); } } + ::printf("temperature: %.1f\n", (double)_last_temperature); } void diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index f62df54f6..1512566fa 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -1291,6 +1291,24 @@ PX4IO::io_set_rc_config() input_map[ichan - 1] = 4; } + /* AUX 1*/ + param_get(param_find("RC_MAP_AUX1"), &ichan); + if ((ichan > 0) && (ichan <= (int)_max_rc_input)) { + input_map[ichan - 1] = 5; + } + + /* AUX 2*/ + param_get(param_find("RC_MAP_AUX2"), &ichan); + if ((ichan > 0) && (ichan <= (int)_max_rc_input)) { + input_map[ichan - 1] = 6; + } + + /* AUX 3*/ + param_get(param_find("RC_MAP_AUX3"), &ichan); + if ((ichan > 0) && (ichan <= (int)_max_rc_input)) { + input_map[ichan - 1] = 7; + } + /* MAIN MODE SWITCH */ param_get(param_find("RC_MAP_MODE_SW"), &ichan); if ((ichan > 0) && (ichan <= (int)_max_rc_input)) { diff --git a/src/modules/sdlog2/module.mk b/src/modules/sdlog2/module.mk index 91a9611d4..8fded0bdb 100644 --- a/src/modules/sdlog2/module.mk +++ b/src/modules/sdlog2/module.mk @@ -46,5 +46,5 @@ MODULE_STACKSIZE = 1200 MAXOPTIMIZATION = -Os -EXTRACFLAGS = -Wframe-larger-than=1300 +EXTRACFLAGS = -Wframe-larger-than=1400 diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 04bf71c17..1c8cdd4be 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -340,15 +340,32 @@ int sdlog2_main(int argc, char *argv[]) exit(0); } + if (!thread_running) { + warnx("not started\n"); + return 1; + } + if (!strcmp(argv[1], "status")) { - if (thread_running) { - sdlog2_status(); + sdlog2_status(); + return 0; + } - } else { - warnx("not started\n"); - } + if (!strcmp(argv[1], "on")) { + struct vehicle_command_s cmd; + cmd.command = VEHICLE_CMD_PREFLIGHT_STORAGE; + cmd.param3 = 1; + int fd = orb_advertise(ORB_ID(vehicle_command), &cmd); + close(fd); + return 0; + } - exit(0); + if (!strcmp(argv[1], "off")) { + struct vehicle_command_s cmd; + cmd.command = VEHICLE_CMD_PREFLIGHT_STORAGE; + cmd.param3 = 0; + int fd = orb_advertise(ORB_ID(vehicle_command), &cmd); + close(fd); + return 0; } sdlog2_usage("unrecognized command"); @@ -627,13 +644,16 @@ static void *logwriter_thread(void *arg) void sdlog2_start_log() { + if (logging_enabled) { + return; + } + /* create log dir if needed */ if (create_log_dir() != 0) { mavlink_and_console_log_critical(mavlink_fd, "[sdlog2] error creating log dir"); exit(1); } - /* initialize statistics counter */ log_bytes_written = 0; start_time = hrt_absolute_time(); @@ -674,6 +694,10 @@ void sdlog2_start_log() void sdlog2_stop_log() { + if (!logging_enabled) { + return; + } + logging_enabled = false; /* wake up write thread one last time */ @@ -1347,6 +1371,9 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.body.log_IMU.mag_x = buf.sensor.magnetometer_ga[0]; log_msg.body.log_IMU.mag_y = buf.sensor.magnetometer_ga[1]; log_msg.body.log_IMU.mag_z = buf.sensor.magnetometer_ga[2]; + log_msg.body.log_IMU.temp_gyro = buf.sensor.gyro_temp; + log_msg.body.log_IMU.temp_acc = buf.sensor.accelerometer_temp; + log_msg.body.log_IMU.temp_mag = buf.sensor.magnetometer_temp; LOGBUFFER_WRITE_AND_COUNT(IMU); } @@ -1402,6 +1429,9 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.body.log_IMU.mag_x = buf.sensor.magnetometer1_ga[0]; log_msg.body.log_IMU.mag_y = buf.sensor.magnetometer1_ga[1]; log_msg.body.log_IMU.mag_z = buf.sensor.magnetometer1_ga[2]; + log_msg.body.log_IMU.temp_gyro = buf.sensor.gyro1_temp; + log_msg.body.log_IMU.temp_acc = buf.sensor.accelerometer1_temp; + log_msg.body.log_IMU.temp_mag = buf.sensor.magnetometer1_temp; LOGBUFFER_WRITE_AND_COUNT(IMU); } @@ -1431,6 +1461,9 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.body.log_IMU.mag_x = buf.sensor.magnetometer2_ga[0]; log_msg.body.log_IMU.mag_y = buf.sensor.magnetometer2_ga[1]; log_msg.body.log_IMU.mag_z = buf.sensor.magnetometer2_ga[2]; + log_msg.body.log_IMU.temp_gyro = buf.sensor.gyro2_temp; + log_msg.body.log_IMU.temp_acc = buf.sensor.accelerometer2_temp; + log_msg.body.log_IMU.temp_mag = buf.sensor.magnetometer2_temp; LOGBUFFER_WRITE_AND_COUNT(IMU); } @@ -1810,13 +1843,18 @@ int sdlog2_thread_main(int argc, char *argv[]) void sdlog2_status() { - float kibibytes = log_bytes_written / 1024.0f; - float mebibytes = kibibytes / 1024.0f; - float seconds = ((float)(hrt_absolute_time() - start_time)) / 1000000.0f; - - warnx("wrote %lu msgs, %4.2f MiB (average %5.3f KiB/s), skipped %lu msgs", log_msgs_written, (double)mebibytes, (double)(kibibytes / seconds), log_msgs_skipped); warnx("extended logging: %s", (_extended_logging) ? "ON" : "OFF"); - mavlink_log_info(mavlink_fd, "[sdlog2] wrote %lu msgs, skipped %lu msgs", log_msgs_written, log_msgs_skipped); + if (!logging_enabled) { + warnx("standing by"); + } else { + + float kibibytes = log_bytes_written / 1024.0f; + float mebibytes = kibibytes / 1024.0f; + float seconds = ((float)(hrt_absolute_time() - start_time)) / 1000000.0f; + + warnx("wrote %lu msgs, %4.2f MiB (average %5.3f KiB/s), skipped %lu msgs", log_msgs_written, (double)mebibytes, (double)(kibibytes / seconds), log_msgs_skipped); + mavlink_log_info(mavlink_fd, "[sdlog2] wrote %lu msgs, skipped %lu msgs", log_msgs_written, log_msgs_skipped); + } } /** @@ -1904,13 +1942,15 @@ void handle_command(struct vehicle_command_s *cmd) switch (cmd->command) { case VEHICLE_CMD_PREFLIGHT_STORAGE: - param = (int)(cmd->param3); + param = (int)(cmd->param3 + 0.5f); if (param == 1) { sdlog2_start_log(); } else if (param == 0) { sdlog2_stop_log(); + } else { + warnx("unknown storage cmd"); } break; diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index 54b0fe73f..49483b15a 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -89,6 +89,9 @@ struct log_IMU_s { float mag_x; float mag_y; float mag_z; + float temp_acc; + float temp_gyro; + float temp_mag; }; /* --- SENS - OTHER SENSORS --- */ @@ -471,9 +474,9 @@ static const struct log_format_s log_formats[] = { /* business-level messages, ID < 0x80 */ LOG_FORMAT(ATT, "fffffffffffff", "qw,qx,qy,qz,Roll,Pitch,Yaw,RollRate,PitchRate,YawRate,GX,GY,GZ"), LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"), - LOG_FORMAT_S(IMU, IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"), - LOG_FORMAT_S(IMU1, IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"), - LOG_FORMAT_S(IMU2, IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"), + LOG_FORMAT_S(IMU, IMU, "ffffffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ,tA,tG,tM"), + LOG_FORMAT_S(IMU1, IMU, "ffffffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ,tA,tG,tM"), + LOG_FORMAT_S(IMU2, IMU, "ffffffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ,tA,tG,tM"), LOG_FORMAT_S(SENS, SENS, "fffff", "BaroPres,BaroAlt,BaroTemp,DiffPres,DiffPresFilt"), LOG_FORMAT_S(AIR1, SENS, "fffff", "BaroPa,BaroAlt,BaroTmp,DiffPres,DiffPresF"), LOG_FORMAT(LPOS, "ffffffffLLfBBff", "X,Y,Z,Dist,DistR,VX,VY,VZ,RLat,RLon,RAlt,PFlg,GFlg,EPH,EPV"), diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 527ca2210..3b93393d2 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -1015,6 +1015,7 @@ Sensors::accel_poll(struct sensor_combined_s &raw) raw.accelerometer_timestamp = accel_report.timestamp; raw.accelerometer_errcount = accel_report.error_count; + raw.accelerometer_temp = accel_report.temperature; } orb_check(_accel1_sub, &accel_updated); @@ -1037,6 +1038,7 @@ Sensors::accel_poll(struct sensor_combined_s &raw) raw.accelerometer1_timestamp = accel_report.timestamp; raw.accelerometer1_errcount = accel_report.error_count; + raw.accelerometer1_temp = accel_report.temperature; } orb_check(_accel2_sub, &accel_updated); @@ -1059,6 +1061,7 @@ Sensors::accel_poll(struct sensor_combined_s &raw) raw.accelerometer2_timestamp = accel_report.timestamp; raw.accelerometer2_errcount = accel_report.error_count; + raw.accelerometer2_temp = accel_report.temperature; } } @@ -1086,6 +1089,7 @@ Sensors::gyro_poll(struct sensor_combined_s &raw) raw.timestamp = gyro_report.timestamp; raw.gyro_errcount = gyro_report.error_count; + raw.gyro_temp = gyro_report.temperature; } orb_check(_gyro1_sub, &gyro_updated); @@ -1108,6 +1112,7 @@ Sensors::gyro_poll(struct sensor_combined_s &raw) raw.gyro1_timestamp = gyro_report.timestamp; raw.gyro1_errcount = gyro_report.error_count; + raw.gyro1_temp = gyro_report.temperature; } orb_check(_gyro2_sub, &gyro_updated); @@ -1130,6 +1135,7 @@ Sensors::gyro_poll(struct sensor_combined_s &raw) raw.gyro2_timestamp = gyro_report.timestamp; raw.gyro2_errcount = gyro_report.error_count; + raw.gyro2_temp = gyro_report.temperature; } } @@ -1158,6 +1164,7 @@ Sensors::mag_poll(struct sensor_combined_s &raw) raw.magnetometer_timestamp = mag_report.timestamp; raw.magnetometer_errcount = mag_report.error_count; + raw.magnetometer_temp = mag_report.temperature; } orb_check(_mag1_sub, &mag_updated); @@ -1181,6 +1188,7 @@ Sensors::mag_poll(struct sensor_combined_s &raw) raw.magnetometer1_timestamp = mag_report.timestamp; raw.magnetometer1_errcount = mag_report.error_count; + raw.magnetometer1_temp = mag_report.temperature; } orb_check(_mag2_sub, &mag_updated); @@ -1204,6 +1212,7 @@ Sensors::mag_poll(struct sensor_combined_s &raw) raw.magnetometer2_timestamp = mag_report.timestamp; raw.magnetometer2_errcount = mag_report.error_count; + raw.magnetometer2_temp = mag_report.temperature; } } diff --git a/src/modules/uORB/topics/sensor_combined.h b/src/modules/uORB/topics/sensor_combined.h index ded82adea..a19f3dc10 100644 --- a/src/modules/uORB/topics/sensor_combined.h +++ b/src/modules/uORB/topics/sensor_combined.h @@ -83,6 +83,7 @@ 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 */ + float gyro_temp; /**< Temperature of 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 */ @@ -90,6 +91,7 @@ struct sensor_combined_s { 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 */ + float accelerometer_temp; /**< Temperature of 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 */ @@ -98,36 +100,43 @@ struct sensor_combined_s { 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 */ + float magnetometer_temp; /**< Temperature of 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 */ + float gyro1_temp; /**< Temperature of 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 */ + float accelerometer1_temp; /**< Temperature of 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 */ + unsigned magnetometer1_errcount; /**< Error counter for mag 1 */ + float magnetometer1_temp; /**< Temperature of mag 1 */ 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 */ + float gyro2_temp; /**< Temperature of 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 */ + float accelerometer2_temp; /**< Temperature of 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 magnetometer2_temp; /**< Temperature of mag 2 */ float baro_pres_mbar; /**< Barometric pressure, already temp. comp. */ float baro_alt_meter; /**< Altitude, already temp. comp. */ |