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gyro: Move to generated uORB topics

This commit is contained in:
Lorenz Meier 2015-08-20 10:18:57 +02:00
parent 7e24240ec3
commit 1d1431e532
2 changed files with 15 additions and 24 deletions
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13
msg/sensor_gyro.msg Normal file
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@ -0,0 +1,13 @@
uint64 timestamp
uint64 error_count
float32 x # angular velocity in the NED X board axis in rad/s
float32 y # angular velocity in the NED Y board axis in rad/s
float32 z # angular velocity in the NED Z board axis in rad/s
float32 temperature # temperature in degrees celcius
float32 range_rad_s
float32 scaling
int16 x_raw
int16 y_raw
int16 z_raw
int16 temperature_raw

26
src/drivers/drv_gyro.h
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@ -51,25 +51,8 @@
#define GYRO1_DEVICE_PATH "/dev/gyro1"
#define GYRO2_DEVICE_PATH "/dev/gyro2"
/**
* gyro report structure. Reads from the device must be in multiples of this
* structure.
*/
struct gyro_report {
uint64_t timestamp;
uint64_t error_count;
float x; /**< angular velocity in the NED X board axis in rad/s */
float y; /**< angular velocity in the NED Y board axis in rad/s */
float z; /**< angular velocity in the NED Z board axis in rad/s */
float temperature; /**< temperature in degrees celcius */
float range_rad_s;
float scaling;
int16_t x_raw;
int16_t y_raw;
int16_t z_raw;
int16_t temperature_raw;
};
#include <uOrb/topics/sensor_gyro.h>
#define gyro_report sensor_gyro_s
/** gyro scaling factors; Vout = (Vin * Vscale) + Voffset */
struct gyro_scale {
@ -81,11 +64,6 @@ struct gyro_scale {
float z_scale;
};
/*
* ObjDev tag for raw gyro data.
*/
ORB_DECLARE(sensor_gyro);
/*
* ioctl() definitions
*/