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px4_autopilot/msg/sensor_combined.msg

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Move more messages to auto-generation, work on C++ code style
10 years ago
#
sensor_combined cleanup: remove many unneeded fields Decreases the message size from 780 to 280 bytes. In particular, all modules using sensor_combined must use the integral now. The sensor value can easily be reconstructed by dividing with dt. Voters now need to be moved into sensors module, because error count and priority is removed from the topic. Any module that requires additional data from a sensor can subscribe to the raw sensor topics. At two places, values are set to zero instead of subscribing to the raw sensors (with the assumption that no one reads them): - mavlink mavlink_highres_imu_t::abs_pressure - sdlog2: sensor temperatures
9 years ago
# Sensor readings in SI-unit form.
Move more messages to auto-generation, work on C++ code style
10 years ago
#
sensor_combined cleanup: remove many unneeded fields Decreases the message size from 780 to 280 bytes. In particular, all modules using sensor_combined must use the integral now. The sensor value can easily be reconstructed by dividing with dt. Voters now need to be moved into sensors module, because error count and priority is removed from the topic. Any module that requires additional data from a sensor can subscribe to the raw sensor topics. At two places, values are set to zero instead of subscribing to the raw sensors (with the assumption that no one reads them): - mavlink mavlink_highres_imu_t::abs_pressure - sdlog2: sensor temperatures
9 years ago
# These fields are scaled and offset-compensated where possible and do not
# change with board revisions and sensor updates.
Move more messages to auto-generation, work on C++ code style
10 years ago
#
sensors: move voting into sensors module - voting is now at a central place instead of duplicated within the estimators -> this also means that estimators that did not do voting so far, now have voting, like ekf2 - estimators requiring more than that can still subscribe to the raw sensors - allows sensors_combined to be 3 times smaller - reduces logger, memcpy (cache) & RAM overhead - all modules requiring only 1 or 2 sensor values now automatically get the voted result - this also adds voting to baro
9 years ago
# gyro timstamp is equal to the timestamp of the message
float32[3] gyro_integral_rad # delta angle in the NED body frame in rad in the integration time frame
sensor_combined.msg: use uint32 for integral_dt There is no reason to make this 64 bit. The same should be done in the sensor raw messages, together with further cleanup.
9 years ago
uint32 gyro_integral_dt # delta time for gyro integral in us
sensors combined message: Clean up field names
10 years ago
sensors: move voting into sensors module - voting is now at a central place instead of duplicated within the estimators -> this also means that estimators that did not do voting so far, now have voting, like ekf2 - estimators requiring more than that can still subscribe to the raw sensors - allows sensors_combined to be 3 times smaller - reduces logger, memcpy (cache) & RAM overhead - all modules requiring only 1 or 2 sensor values now automatically get the voted result - this also adds voting to baro
9 years ago
uint64 accelerometer_timestamp # Accelerometer timestamp
float32[3] accelerometer_integral_m_s # velocity in NED body frame, in m/s^2
sensor_combined.msg: use uint32 for integral_dt There is no reason to make this 64 bit. The same should be done in the sensor raw messages, together with further cleanup.
9 years ago
uint32 accelerometer_integral_dt # delta time for accel integral in us
sensors combined message: Clean up field names
10 years ago
sensors: move voting into sensors module - voting is now at a central place instead of duplicated within the estimators -> this also means that estimators that did not do voting so far, now have voting, like ekf2 - estimators requiring more than that can still subscribe to the raw sensors - allows sensors_combined to be 3 times smaller - reduces logger, memcpy (cache) & RAM overhead - all modules requiring only 1 or 2 sensor values now automatically get the voted result - this also adds voting to baro
9 years ago
uint64 magnetometer_timestamp # Magnetometer timestamp
float32[3] magnetometer_ga # Magnetic field in NED body frame, in Gauss
sensors combined message: Clean up field names
10 years ago
sensors: move voting into sensors module - voting is now at a central place instead of duplicated within the estimators -> this also means that estimators that did not do voting so far, now have voting, like ekf2 - estimators requiring more than that can still subscribe to the raw sensors - allows sensors_combined to be 3 times smaller - reduces logger, memcpy (cache) & RAM overhead - all modules requiring only 1 or 2 sensor values now automatically get the voted result - this also adds voting to baro
9 years ago
uint64 baro_timestamp # Barometer timestamp
float32 baro_alt_meter # Altitude, already temp. comp.
float32 baro_temp_celcius # Temperature in degrees celsius
Move more messages to auto-generation, work on C++ code style
10 years ago