From ec040fa3ac611a0519fdc3afd4dc1091eab538e4 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 3 Feb 2015 13:51:00 +0100 Subject: sensor combined topic: Copy error count field along --- src/modules/uORB/topics/sensor_combined.h | 18 ++++++++++++++---- 1 file changed, 14 insertions(+), 4 deletions(-) (limited to 'src/modules/uORB') diff --git a/src/modules/uORB/topics/sensor_combined.h b/src/modules/uORB/topics/sensor_combined.h index 583a39ded..ded82adea 100644 --- a/src/modules/uORB/topics/sensor_combined.h +++ b/src/modules/uORB/topics/sensor_combined.h @@ -1,9 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. - * Author: @author Thomas Gubler - * @author Julian Oes - * @author Lorenz Meier + * Copyright (c) 2012-2015 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -37,6 +34,10 @@ /** * @file sensor_combined.h * Definition of the sensor_combined uORB topic. + * + * @author Thomas Gubler + * @author Julian Oes + * @author Lorenz Meier */ #ifndef SENSOR_COMBINED_H_ @@ -81,12 +82,14 @@ 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 */ 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 */ int accelerometer_mode; /**< Accelerometer measurement mode */ 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 */ int16_t magnetometer_raw[3]; /**< Raw magnetic field in NED body frame */ float magnetometer_ga[3]; /**< Magnetic field in NED body frame, in Gauss */ @@ -94,30 +97,37 @@ struct sensor_combined_s { float magnetometer_range_ga; /**< ± measurement range in Gauss */ 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 */ 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 */ 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 */ 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 */ 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 */ 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 */ 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 baro_pres_mbar; /**< Barometric pressure, already temp. comp. */ float baro_alt_meter; /**< Altitude, already temp. comp. */ -- cgit v1.2.3