forked from Archive/PX4-Autopilot
sensors: uniform initialization and whitespace formatting in voted_sensors_update.h
This commit is contained in:
Mark Sauder
Daniel Agar
parent
6413525645
commit
6abf2203a3
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@ -124,6 +124,7 @@ public:
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void checkFailover();
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int numGyros() const { return _gyro.subscription_count; }
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int gyroFd(int idx) const { return _gyro.subscription[idx]; }
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int bestGyroFd() const { return _gyro.subscription[_gyro.last_best_vote]; }
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@ -169,39 +170,39 @@ private:
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unsigned int last_failover_count;
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};
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void initSensorClass(const struct orb_metadata *meta, SensorData &sensor_data, uint8_t sensor_count_max);
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void initSensorClass(const orb_metadata *meta, SensorData &sensor_data, uint8_t sensor_count_max);
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/**
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* Poll the accelerometer for updated data.
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*
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* @param raw Combined sensor data structure into which
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* data should be returned.
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* @param raw Combined sensor data structure into which
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* data should be returned.
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*/
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void accelPoll(struct sensor_combined_s &raw);
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void accelPoll(sensor_combined_s &raw);
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/**
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* Poll the gyro for updated data.
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*
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* @param raw Combined sensor data structure into which
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* data should be returned.
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* @param raw Combined sensor data structure into which
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* data should be returned.
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*/
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void gyroPoll(struct sensor_combined_s &raw);
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void gyroPoll(sensor_combined_s &raw);
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/**
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* Poll the magnetometer for updated data.
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*
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* @param raw Combined sensor data structure into which
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* data should be returned.
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* @param raw Combined sensor data structure into which
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* data should be returned.
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*/
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void magPoll(vehicle_magnetometer_s &magnetometer);
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void magPoll(vehicle_magnetometer_s &magnetometer);
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/**
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* Poll the barometer for updated data.
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*
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* @param raw Combined sensor data structure into which
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* data should be returned.
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* @param raw Combined sensor data structure into which
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* data should be returned.
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*/
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void baroPoll(vehicle_air_data_s &airdata);
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void baroPoll(vehicle_air_data_s &airdata);
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/**
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* Check & handle failover of a sensor
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@ -240,51 +241,47 @@ private:
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*/
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bool applyMagCalibration(DriverFramework::DevHandle &h, const struct mag_calibration_s *mcal, const int device_id);
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SensorData _gyro;
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SensorData _accel;
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SensorData _mag;
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SensorData _baro;
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SensorData _accel {};
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SensorData _gyro {};
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SensorData _mag {};
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SensorData _baro {};
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orb_advert_t _mavlink_log_pub = nullptr;
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orb_advert_t _mavlink_log_pub{nullptr};
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orb_advert_t _sensor_correction_pub{nullptr}; /**< handle to the sensor correction uORB topic */
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orb_advert_t _sensor_selection_pub{nullptr}; /**< handle to the sensor selection uORB topic */
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sensor_combined_s _last_sensor_data[SENSOR_COUNT_MAX]; /**< latest sensor data from all sensors instances */
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vehicle_air_data_s _last_airdata[SENSOR_COUNT_MAX]; /**< latest sensor data from all sensors instances */
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vehicle_magnetometer_s _last_magnetometer[SENSOR_COUNT_MAX]; /**< latest sensor data from all sensors instances */
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sensor_combined_s _last_sensor_data[SENSOR_COUNT_MAX] {}; /**< latest sensor data from all sensors instances */
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vehicle_air_data_s _last_airdata[SENSOR_COUNT_MAX] {}; /**< latest sensor data from all sensors instances */
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vehicle_magnetometer_s _last_magnetometer[SENSOR_COUNT_MAX] {}; /**< latest sensor data from all sensors instances */
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uint64_t _last_accel_timestamp[ACCEL_COUNT_MAX]; /**< latest full timestamp */
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uint64_t _last_accel_timestamp[ACCEL_COUNT_MAX] {}; /**< latest full timestamp */
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matrix::Dcmf _board_rotation; /**< rotation matrix for the orientation that the board is mounted */
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matrix::Dcmf _mag_rotation[MAG_COUNT_MAX]; /**< rotation matrix for the orientation that the external mag0 is mounted */
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matrix::Dcmf _board_rotation {}; /**< rotation matrix for the orientation that the board is mounted */
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matrix::Dcmf _mag_rotation[MAG_COUNT_MAX] {}; /**< rotation matrix for the orientation that the external mag0 is mounted */
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const Parameters &_parameters;
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const bool _hil_enabled; /**< is hardware-in-the-loop mode enabled? */
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const bool _hil_enabled{false}; /**< is hardware-in-the-loop mode enabled? */
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float _accel_diff[3][2]; /**< filtered accel differences between IMU units (m/s/s) */
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float _gyro_diff[3][2]; /**< filtered gyro differences between IMU uinits (rad/s) */
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float _mag_angle_diff[2]; /**< filtered mag angle differences between sensor instances (Ga) */
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float _accel_diff[3][2] {}; /**< filtered accel differences between IMU units (m/s/s) */
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float _gyro_diff[3][2] {}; /**< filtered gyro differences between IMU uinits (rad/s) */
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float _mag_angle_diff[2] {}; /**< filtered mag angle differences between sensor instances (Ga) */
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/* sensor thermal compensation */
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TemperatureCompensation _temperature_compensation;
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struct sensor_correction_s _corrections; /**< struct containing the sensor corrections to be published to the uORB*/
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orb_advert_t _sensor_correction_pub = nullptr; /**< handle to the sensor correction uORB topic */
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bool _corrections_changed = false;
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TemperatureCompensation _temperature_compensation{};
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sensor_correction_s _corrections {}; /**< struct containing the sensor corrections to be published to the uORB */
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sensor_selection_s _selection {}; /**< struct containing the sensor selection to be published to the uORB */
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subsystem_info_s _info {}; /**< subsystem info publication */
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/* sensor selection publication */
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struct sensor_selection_s _selection = {}; /**< struct containing the sensor selection to be published to the uORB*/
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orb_advert_t _sensor_selection_pub = nullptr; /**< handle to the sensor selection uORB topic */
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bool _selection_changed = false; /**< true when a sensor selection has changed and not been published */
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bool _corrections_changed{false};
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bool _selection_changed{false}; /**< true when a sensor selection has changed and not been published */
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/* subsystem info publication */
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subsystem_info_s _info{};
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uORB::PublicationQueued<subsystem_info_s> _info_pub{ORB_ID(subsystem_info)};
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uORB::PublicationQueued<subsystem_info_s> _info_pub{ORB_ID(subsystem_info)}; /* subsystem info publication */
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uint32_t _accel_device_id[SENSOR_COUNT_MAX] = {}; /**< accel driver device id for each uorb instance */
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uint32_t _baro_device_id[SENSOR_COUNT_MAX] = {};
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uint32_t _gyro_device_id[SENSOR_COUNT_MAX] = {};
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uint32_t _mag_device_id[SENSOR_COUNT_MAX] = {};
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uint32_t _accel_device_id[SENSOR_COUNT_MAX] {}; /**< accel driver device id for each uorb instance */
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uint32_t _baro_device_id[SENSOR_COUNT_MAX] {}; /**< baro driver device id for each uorb instance */
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uint32_t _gyro_device_id[SENSOR_COUNT_MAX] {}; /**< gyro driver device id for each uorb instance */
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uint32_t _mag_device_id[SENSOR_COUNT_MAX] {}; /**< mag driver device id for each uorb instance */
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};
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} /* namespace sensors */
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