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Remove scale from accel fifo message. Remove duplicate application of gyro scale factor from VehicleAngularVelocity.cpp.

This commit is contained in:
mcsauder 2023-06-08 14:07:00 -06:00
parent f119cca3b3
commit 61b3b482a8
4 changed files with 3 additions and 5 deletions
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3
msg/SensorAccelFifo.msg
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@ -4,10 +4,11 @@ uint64 timestamp_sample
uint32 device_id # unique device ID for the sensor that does not change between power cycles
float32 dt # delta time between samples (microseconds)
float32 scale
uint8 samples # number of valid samples
int16[32] x # acceleration in the FRD board frame X-axis in m/s^2
int16[32] y # acceleration in the FRD board frame Y-axis in m/s^2
int16[32] z # acceleration in the FRD board frame Z-axis in m/s^2
uint8 ORB_QUEUE_LENGTH = 4

1
src/lib/drivers/accelerometer/PX4Accelerometer.cpp
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@ -145,7 +145,6 @@ void PX4Accelerometer::updateFIFO(sensor_accel_fifo_s &sample)
}
sample.device_id = _device_id;
sample.scale = _scale;
sample.timestamp = hrt_absolute_time();
_sensor_fifo_pub.publish(sample);

2
src/lib/drivers/gyroscope/PX4Gyroscope.cpp
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@ -144,11 +144,9 @@ void PX4Gyroscope::updateFIFO(sensor_gyro_fifo_s &sample)
}
sample.device_id = _device_id;
sample.scale = _scale;
sample.timestamp = hrt_absolute_time();
_sensor_fifo_pub.publish(sample);
// publish
sensor_gyro_s report;
report.timestamp_sample = sample.timestamp_sample;

2
src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
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@ -840,7 +840,7 @@ void VehicleAngularVelocity::Run()
float data[FIFO_SIZE_MAX];
for (int n = 0; n < N; n++) {
data[n] = sensor_fifo_data.scale * raw_data_array[axis][n];
data[n] = raw_data_array[axis][n];
}
// save last filtered sample