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