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AP_InertialSensor: rename _rotate_and_offset to _publish

This commit is contained in:
Jonathan Challinger 2015-02-16 22:50:59 -08:00 committed by Andrew Tridgell
parent 502446d821
commit 155c173ed1
10 changed files with 26 additions and 23 deletions
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4
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -1032,8 +1032,8 @@ void AP_InertialSensor::update(void)
if (!_hil_mode) {
for (uint8_t i=0; i<INS_MAX_INSTANCES; i++) {
// mark sensors unhealthy and let update() in each backend
// mark them healthy via _rotate_and_offset_gyro() and
// _rotate_and_offset_accel()
// mark them healthy via _publish_gyro() and
// _publish_accel()
_gyro_healthy[i] = false;
_accel_healthy[i] = false;
}

4
libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
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@ -12,7 +12,7 @@ AP_InertialSensor_Backend::AP_InertialSensor_Backend(AP_InertialSensor &imu) :
/*
rotate gyro vector and add the gyro offset
*/
void AP_InertialSensor_Backend::_rotate_and_offset_gyro(uint8_t instance, const Vector3f &gyro)
void AP_InertialSensor_Backend::_publish_gyro(uint8_t instance, const Vector3f &gyro)
{
_imu._gyro[instance] = gyro;
_imu._gyro[instance].rotate(_imu._board_orientation);
@ -23,7 +23,7 @@ void AP_InertialSensor_Backend::_rotate_and_offset_gyro(uint8_t instance, const
/*
rotate accel vector, scale and add the accel offset
*/
void AP_InertialSensor_Backend::_rotate_and_offset_accel(uint8_t instance, const Vector3f &accel)
void AP_InertialSensor_Backend::_publish_accel(uint8_t instance, const Vector3f &accel)
{
_imu._accel[instance] = accel;
_imu._accel[instance].rotate(_imu._board_orientation);

9
libraries/AP_InertialSensor/AP_InertialSensor_Backend.h
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@ -36,7 +36,7 @@ public:
/*
* Update the sensor data. Called by the frontend to transfer
* accumulated sensor readings to the frontend structure via the
* _rotate_and_offset_gyro() and _rotate_and_offset_accel() functions
* _publish_gyro() and _publish_accel() functions
*/
virtual bool update() = 0;
@ -64,8 +64,11 @@ protected:
// rotate gyro vector and offset
void _rotate_and_offset_gyro(uint8_t instance, const Vector3f &gyro);
// rotate accel vector, scale and offset
void _rotate_and_offset_accel(uint8_t instance, const Vector3f &accel);
// rotate gyro vector, offset and publish
void _publish_gyro(uint8_t instance, const Vector3f &gyro);
// rotate accel vector, scale, offset and publish
void _publish_accel(uint8_t instance, const Vector3f &accel);
// set accelerometer error_count
void _set_accel_error_count(uint8_t instance, uint32_t error_count);

4
libraries/AP_InertialSensor/AP_InertialSensor_Flymaple.cpp
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@ -182,11 +182,11 @@ bool AP_InertialSensor_Flymaple::update(void)
// Adjust for chip scaling to get m/s/s
accel *= FLYMAPLE_ACCELEROMETER_SCALE_M_S;
_rotate_and_offset_accel(_accel_instance, accel);
_publish_accel(_accel_instance, accel);
// Adjust for chip scaling to get radians/sec
gyro *= FLYMAPLE_GYRO_SCALE_R_S;
_rotate_and_offset_gyro(_gyro_instance, gyro);
_publish_gyro(_gyro_instance, gyro);
if (_last_filter_hz != _imu.get_filter()) {
_set_filter_frequency(_imu.get_filter());

4
libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp
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@ -251,11 +251,11 @@ bool AP_InertialSensor_L3G4200D::update(void)
// Adjust for chip scaling to get m/s/s
accel *= ADXL345_ACCELEROMETER_SCALE_M_S;
_rotate_and_offset_accel(_accel_instance, accel);
_publish_accel(_accel_instance, accel);
// Adjust for chip scaling to get radians/sec
gyro *= L3G4200D_GYRO_SCALE_R_S;
_rotate_and_offset_gyro(_gyro_instance, gyro);
_publish_gyro(_gyro_instance, gyro);
if (_last_filter_hz != _imu.get_filter()) {
_set_filter_frequency(_imu.get_filter());

4
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
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@ -295,10 +295,10 @@ bool AP_InertialSensor_MPU6000::update( void )
hal.scheduler->resume_timer_procs();
gyro *= _gyro_scale / num_samples;
_rotate_and_offset_gyro(_gyro_instance, gyro);
_publish_gyro(_gyro_instance, gyro);
accel *= MPU6000_ACCEL_SCALE_1G / num_samples;
_rotate_and_offset_accel(_accel_instance, accel);
_publish_accel(_accel_instance, accel);
if (_last_filter_hz != _imu.get_filter()) {
if (_spi_sem->take(10)) {

4
libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.cpp
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@ -1101,10 +1101,10 @@ bool AP_InertialSensor_MPU9150::update(void)
hal.scheduler->resume_timer_procs();
accel *= MPU9150_ACCEL_SCALE_2G;
_rotate_and_offset_accel(_accel_instance, accel);
_publish_accel(_accel_instance, accel);
gyro *= MPU9150_GYRO_SCALE_2000;
_rotate_and_offset_gyro(_gyro_instance, gyro);
_publish_gyro(_gyro_instance, gyro);
if (_last_filter_hz != _imu.get_filter()) {
_set_filter_frequency(_imu.get_filter());

4
libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
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@ -289,8 +289,8 @@ bool AP_InertialSensor_MPU9250::update( void )
gyro.rotate(ROTATION_ROLL_180);
#endif
_rotate_and_offset_gyro(_gyro_instance, gyro);
_rotate_and_offset_accel(_accel_instance, accel);
_publish_gyro(_gyro_instance, gyro);
_publish_accel(_accel_instance, accel);
if (_last_filter_hz != _imu.get_filter()) {
_set_filter(_imu.get_filter());

4
libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp
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@ -104,14 +104,14 @@ bool AP_InertialSensor_Oilpan::update()
v(_sensor_signs[0] * ( adc_values[0] - OILPAN_RAW_GYRO_OFFSET ) * _gyro_gain_x,
_sensor_signs[1] * ( adc_values[1] - OILPAN_RAW_GYRO_OFFSET ) * _gyro_gain_y,
_sensor_signs[2] * ( adc_values[2] - OILPAN_RAW_GYRO_OFFSET ) * _gyro_gain_z);
_rotate_and_offset_gyro(_gyro_instance, v);
_publish_gyro(_gyro_instance, v);
// copy accels to frontend
v(_sensor_signs[3] * (adc_values[3] - OILPAN_RAW_ACCEL_OFFSET),
_sensor_signs[4] * (adc_values[4] - OILPAN_RAW_ACCEL_OFFSET),
_sensor_signs[5] * (adc_values[5] - OILPAN_RAW_ACCEL_OFFSET));
v *= OILPAN_ACCEL_SCALE_1G;
_rotate_and_offset_accel(_accel_instance, v);
_publish_accel(_accel_instance, v);
return true;
}

8
libraries/AP_InertialSensor/AP_InertialSensor_PX4.cpp
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@ -107,20 +107,20 @@ bool AP_InertialSensor_PX4::update(void)
for (uint8_t k=0; k<_num_accel_instances; k++) {
Vector3f accel = _accel_in[k];
// calling _rotate_and_offset_accel sets the sensor healthy,
// calling _publish_accel sets the sensor healthy,
// so we only want to do this if we have new data from it
if (_last_accel_timestamp[k] != _last_accel_update_timestamp[k]) {
_rotate_and_offset_accel(_accel_instance[k], accel);
_publish_accel(_accel_instance[k], accel);
_last_accel_update_timestamp[k] = _last_accel_timestamp[k];
}
}
for (uint8_t k=0; k<_num_gyro_instances; k++) {
Vector3f gyro = _gyro_in[k];
// calling _rotate_and_offset_accel sets the sensor healthy,
// calling _publish_accel sets the sensor healthy,
// so we only want to do this if we have new data from it
if (_last_gyro_timestamp[k] != _last_gyro_update_timestamp[k]) {
_rotate_and_offset_gyro(_gyro_instance[k], gyro);
_publish_gyro(_gyro_instance[k], gyro);
_last_gyro_update_timestamp[k] = _last_gyro_timestamp[k];
}
}