uORB: Support up to three topics per sensor

src/modules/uORB/objects_common.cpp

@@ -48,14 +48,17 @@
 #include <drivers/drv_mag.h>
 ORB_DEFINE(sensor_mag0, struct mag_report);
 ORB_DEFINE(sensor_mag1, struct mag_report);
+ORB_DEFINE(sensor_mag2, struct mag_report);
 
 #include <drivers/drv_accel.h>
 ORB_DEFINE(sensor_accel0, struct accel_report);
 ORB_DEFINE(sensor_accel1, struct accel_report);
+ORB_DEFINE(sensor_accel2, struct accel_report);
 
 #include <drivers/drv_gyro.h>
 ORB_DEFINE(sensor_gyro0, struct gyro_report);
 ORB_DEFINE(sensor_gyro1, struct gyro_report);
+ORB_DEFINE(sensor_gyro2, struct gyro_report);
 
 #include <drivers/drv_baro.h>
 ORB_DEFINE(sensor_baro0, struct baro_report);

src/modules/uORB/topics/sensor_combined.h

@@ -95,6 +95,30 @@ struct sensor_combined_s {
 	float magnetometer_cuttoff_freq_hz;	/**< Internal analog low pass frequency of sensor */
 	uint64_t magnetometer_timestamp;	/**< Magnetometer timestamp         */
 
+	int16_t	gyro1_raw[3];			/**< Raw sensor values of angular velocity        */
+	float gyro1_rad_s[3];			/**< Angular velocity in radian per seconds       */
+	uint64_t gyro1_timestamp;		/**< Gyro timestamp */
+
+	int16_t accelerometer1_raw[3];		/**< Raw acceleration in NED body frame           */
+	float accelerometer1_m_s2[3];		/**< Acceleration in NED body frame, in m/s^2     */
+	uint64_t accelerometer1_timestamp;	/**< Accelerometer timestamp        */
+
+	int16_t	magnetometer1_raw[3];		/**< Raw magnetic field in NED body frame         */
+	float magnetometer1_ga[3];		/**< Magnetic field in NED body frame, in Gauss   */
+	uint64_t magnetometer1_timestamp;	/**< Magnetometer timestamp         */
+
+	int16_t	gyro2_raw[3];			/**< Raw sensor values of angular velocity        */
+	float gyro2_rad_s[3];			/**< Angular velocity in radian per seconds       */
+	uint64_t gyro2_timestamp;		/**< Gyro timestamp */
+
+	int16_t accelerometer2_raw[3];		/**< Raw acceleration in NED body frame           */
+	float accelerometer2_m_s2[3];		/**< Acceleration in NED body frame, in m/s^2     */
+	uint64_t accelerometer2_timestamp;	/**< Accelerometer timestamp        */
+
+	int16_t	magnetometer2_raw[3];		/**< Raw magnetic field in NED body frame         */
+	float magnetometer2_ga[3];		/**< Magnetic field in NED body frame, in Gauss   */
+	uint64_t magnetometer2_timestamp;	/**< Magnetometer timestamp         */
+
 	float baro_pres_mbar;			/**< Barometric pressure, already temp. comp.     */
 	float baro_alt_meter;			/**< Altitude, already temp. comp.                */
 	float baro_temp_celcius;		/**< Temperature in degrees celsius               */