Commit Graph

12 Commits

Author SHA1 Message Date
Robin Lilja aa244a098c
Clarification of coordinate systems for sensors_* and vehicle_* messages (#16339)
Changed all 'NED' references to 'FRD'. Also cleaned up mixing of m/s/s and m/s^2 to use the latter. Corrected m/s/s to Pascals. Plus minor typos. Also made some minor cosmetic clean ups.

Co-authored-by: Robin <robin@Robins-MacBook-Pro-Work.local>
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
2020-12-15 09:18:05 +01:00
Daniel Agar eecf2e7a1e
sensors: allow up to 4 accels, gyros, and baros and add configurable rotations for accel & gyro 2020-10-08 19:01:44 -04:00
Daniel Agar f55ed0992c
accel and gyro calibration refactor and cleanup
- remove all remaining IOCTLs for accel and gyro and handle all calibration entirely in sensors module with parameters
 - sensor_accel and sensor_gyro are now always raw sensor data
 - calibration procedures no longer need to first clear existing values before starting
 - temperature calibration (TC) remove all scale (SCL) parameters
    - gyro and baro scale are completely unused
    - regular accel calibration scale can be used (CAL_ACC*_xSCALE) instead of TC scale
2020-06-17 22:50:09 -04:00
Daniel Agar dc05ceaad2
create temperature_compensation module
- this is a new module for temperature compensation that consolidates the functionality previously handled in the sensors module (calculating runtime thermal corrections) and the events module (online thermal calibration)
 - by collecting this functionality into a single module we can optionally disable it on systems where it's not used and save some flash (if disabled at build time) or memory (disabled at run time)
2020-01-20 21:42:42 -05:00
Daniel Agar bb465ca5b7
sensor accel/gyro message cleanup
- split out integrated data into new standalone messages (sensor_accel_integrated and sensor_gyro_integrated)
 - publish sensor_gyro at full rate and remove sensor_gyro_control
 - limit sensor status publications to 10 Hz
 - remove unused accel/gyro raw ADC fields
 - add device IDs to sensor_bias and sensor_correction
    - vehicle_angular_velocity/vehicle_acceleration: check device ids before using bias and corrections
2020-01-18 01:15:00 -05:00
TSC21 e932030d88 add timestamp field to uORB msgs; sync timestamp whenever possible 2018-08-09 13:40:48 +02:00
Paul Riseborough ba9e8741c0 msg: Add mapping from uORB index to compensation parameter index
This mapping is required so other applications can use the correct compensation data, even if the uORB ordering changes.
2017-02-01 08:40:23 +01:00
Paul Riseborough 1dd9a10260 msg: publish thermal corrections for all sensors 2017-02-01 08:40:23 +01:00
Beat Küng 0765ed552c sensor_correction.msg rename {gyro,accel,baro}_select to match uORB convention 2017-01-19 19:24:52 +01:00
Lorenz Meier b1e4291590 Sensor messages device IDs: These remain unsigned 2017-01-19 19:24:52 +01:00
Paul Riseborough 137bd73ea1 msg: add reporting of baro sensor corrections
Also improve documentation
2017-01-19 19:24:52 +01:00
Paul Riseborough 9599f58c5d msg: add uORB topic for IMU sensor corrections 2017-01-19 19:24:52 +01:00