dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Sensor app: Formatting, documentation and cleanup

This commit is contained in:
Lorenz Meier 2015-02-14 16:03:46 +01:00
parent 12ae984198
commit bed3eaafa1
1 changed files with 7 additions and 13 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

20
src/modules/sensors/sensors.cpp
View File

@ -33,11 +33,17 @@
/**
* @file sensors.cpp
* Sensor readout process.
*
* PX4 Flight Core transitional mapping layer.
*
* This app / class mapps the PX4 middleware layer / drivers to the application
* layer of the PX4 Flight Core. Individual sensors can be accessed directly as
* well instead of relying on the sensor_combined topic.
*
* @author Lorenz Meier <lorenz@px4.io>
* @author Julian Oes <julian@px4.io>
* @author Thomas Gubler <thomas@px4.io>
* @author Anton Babushkin <anton@px4.io>
*/
#include <nuttx/config.h>
@ -85,18 +91,6 @@
#include <uORB/topics/airspeed.h>
#include <uORB/topics/rc_parameter_map.h>
#define GYRO_HEALTH_COUNTER_LIMIT_ERROR 20 /* 40 ms downtime at 500 Hz update rate */
#define ACC_HEALTH_COUNTER_LIMIT_ERROR 20 /* 40 ms downtime at 500 Hz update rate */
#define MAGN_HEALTH_COUNTER_LIMIT_ERROR 100 /* 1000 ms downtime at 100 Hz update rate */
#define BARO_HEALTH_COUNTER_LIMIT_ERROR 50 /* 500 ms downtime at 100 Hz update rate */
#define ADC_HEALTH_COUNTER_LIMIT_ERROR 10 /* 100 ms downtime at 100 Hz update rate */
#define GYRO_HEALTH_COUNTER_LIMIT_OK 5
#define ACC_HEALTH_COUNTER_LIMIT_OK 5
#define MAGN_HEALTH_COUNTER_LIMIT_OK 5
#define BARO_HEALTH_COUNTER_LIMIT_OK 5
#define ADC_HEALTH_COUNTER_LIMIT_OK 5
/**
* Analog layout:
* FMU: