Removed stupid sensor counter, replaced it with much more useful timestamps

src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp

@@ -277,7 +277,6 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 	// XXX write this out to perf regs
 
 	/* keep track of sensor updates */
-	uint32_t sensor_last_count[3] = {0, 0, 0};
 	uint64_t sensor_last_timestamp[3] = {0, 0, 0};
 
 	struct attitude_estimator_ekf_params ekf_params;
@@ -380,9 +379,8 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 					uint8_t update_vect[3] = {0, 0, 0};
 
 					/* Fill in gyro measurements */
-					if (sensor_last_count[0] != raw.gyro_counter) {
+					if (sensor_last_timestamp[0] != raw.timestamp) {
 						update_vect[0] = 1;
-						sensor_last_count[0] = raw.gyro_counter;
 						sensor_update_hz[0] = 1e6f / (raw.timestamp - sensor_last_timestamp[0]);
 						sensor_last_timestamp[0] = raw.timestamp;
 					}
@@ -392,9 +390,8 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 					z_k[2] =  raw.gyro_rad_s[2] - gyro_offsets[2];
 
 					/* update accelerometer measurements */
-					if (sensor_last_count[1] != raw.accelerometer_counter) {
+					if (sensor_last_timestamp[1] != raw.accelerometer_timestamp) {
 						update_vect[1] = 1;
-						sensor_last_count[1] = raw.accelerometer_counter;
 						sensor_update_hz[1] = 1e6f / (raw.timestamp - sensor_last_timestamp[1]);
 						sensor_last_timestamp[1] = raw.timestamp;
 					}
@@ -445,9 +442,8 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 					z_k[5] = raw.accelerometer_m_s2[2] - acc(2);
 
 					/* update magnetometer measurements */
-					if (sensor_last_count[2] != raw.magnetometer_counter) {
+					if (sensor_last_timestamp[2] != raw.magnetometer_timestamp) {
 						update_vect[2] = 1;
-						sensor_last_count[2] = raw.magnetometer_counter;
 						sensor_update_hz[2] = 1e6f / (raw.timestamp - sensor_last_timestamp[2]);
 						sensor_last_timestamp[2] = raw.timestamp;
 					}

src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp

@@ -445,7 +445,6 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[])
 	// XXX write this out to perf regs
 
 	/* keep track of sensor updates */
-	uint32_t sensor_last_count[3] = {0, 0, 0};
 	uint64_t sensor_last_timestamp[3] = {0, 0, 0};
 
 	struct attitude_estimator_so3_params so3_comp_params;
@@ -526,9 +525,8 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[])
 					uint8_t update_vect[3] = {0, 0, 0};
 
 					/* Fill in gyro measurements */
-					if (sensor_last_count[0] != raw.gyro_counter) {
+					if (sensor_last_timestamp[0] != raw.timestamp) {
 						update_vect[0] = 1;
-						sensor_last_count[0] = raw.gyro_counter;
 						sensor_update_hz[0] = 1e6f / (raw.timestamp - sensor_last_timestamp[0]);
 						sensor_last_timestamp[0] = raw.timestamp;
 					}
@@ -538,9 +536,8 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[])
 					gyro[2] = raw.gyro_rad_s[2] - gyro_offsets[2];
 
 					/* update accelerometer measurements */
-					if (sensor_last_count[1] != raw.accelerometer_counter) {
+					if (sensor_last_timestamp[1] != raw.accelerometer_timestamp) {
 						update_vect[1] = 1;
-						sensor_last_count[1] = raw.accelerometer_counter;
 						sensor_update_hz[1] = 1e6f / (raw.timestamp - sensor_last_timestamp[1]);
 						sensor_last_timestamp[1] = raw.timestamp;
 					}
@@ -550,9 +547,8 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[])
 					acc[2] = raw.accelerometer_m_s2[2];
 
 					/* update magnetometer measurements */
-					if (sensor_last_count[2] != raw.magnetometer_counter) {
+					if (sensor_last_timestamp[2] != raw.magnetometer_timestamp) {
 						update_vect[2] = 1;
-						sensor_last_count[2] = raw.magnetometer_counter;
 						sensor_update_hz[2] = 1e6f / (raw.timestamp - sensor_last_timestamp[2]);
 						sensor_last_timestamp[2] = raw.timestamp;
 					}

src/modules/position_estimator_inav/position_estimator_inav_main.c

@@ -200,8 +200,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 	bool landed = true;
 	hrt_abstime landed_time = 0;
 
-	uint32_t accel_counter = 0;
-	uint32_t baro_counter = 0;
+	hrt_abstime accel_timestamp = 0;
+	hrt_abstime baro_timestamp = 0;
 
 	bool ref_inited = false;
 	hrt_abstime ref_init_start = 0;
@@ -310,8 +310,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 			if (fds_init[0].revents & POLLIN) {
 				orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor);
 
-				if (wait_baro && sensor.baro_counter != baro_counter) {
-					baro_counter = sensor.baro_counter;
+				if (wait_baro && sensor.baro_timestamp != baro_timestamp) {
+					baro_timestamp = sensor.baro_timestamp;
 
 					/* mean calculation over several measurements */
 					if (baro_init_cnt < baro_init_num) {
@@ -384,7 +384,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 			if (updated) {
 				orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor);
 
-				if (sensor.accelerometer_counter != accel_counter) {
+				if (sensor.accelerometer_timestamp != accel_timestamp) {
 					if (att.R_valid) {
 						/* correct accel bias */
 						sensor.accelerometer_m_s2[0] -= acc_bias[0];
@@ -408,13 +408,13 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 						memset(corr_acc, 0, sizeof(corr_acc));
 					}
 
-					accel_counter = sensor.accelerometer_counter;
+					accel_timestamp = sensor.accelerometer_timestamp;
 					accel_updates++;
 				}
 
-				if (sensor.baro_counter != baro_counter) {
+				if (sensor.baro_timestamp != baro_timestamp) {
 					corr_baro = baro_offset - sensor.baro_alt_meter - z_est[0];
-					baro_counter = sensor.baro_counter;
+					baro_timestamp = sensor.baro_timestamp;
 					baro_updates++;
 				}
 			}

src/modules/sdlog2/sdlog2.c

@@ -887,11 +887,11 @@ int sdlog2_thread_main(int argc, char *argv[])
 	pthread_cond_init(&logbuffer_cond, NULL);
 
 	/* track changes in sensor_combined topic */
-	uint16_t gyro_counter = 0;
-	uint16_t accelerometer_counter = 0;
-	uint16_t magnetometer_counter = 0;
-	uint16_t baro_counter = 0;
-	uint16_t differential_pressure_counter = 0;
+	hrt_abstime gyro_timestamp = 0;
+	hrt_abstime accelerometer_timestamp = 0;
+	hrt_abstime magnetometer_timestamp = 0;
+	hrt_abstime barometer_timestamp = 0;
+	hrt_abstime differential_pressure_timestamp = 0;
 
 	/* track changes in distance status */
 	bool dist_bottom_present = false;
@@ -976,28 +976,28 @@ int sdlog2_thread_main(int argc, char *argv[])
 			bool write_IMU = false;
 			bool write_SENS = false;
 
-			if (buf.sensor.gyro_counter != gyro_counter) {
-				gyro_counter = buf.sensor.gyro_counter;
+			if (buf.sensor.timestamp != gyro_timestamp) {
+				gyro_timestamp = buf.sensor.timestamp;
 				write_IMU = true;
 			}
 
-			if (buf.sensor.accelerometer_counter != accelerometer_counter) {
-				accelerometer_counter = buf.sensor.accelerometer_counter;
+			if (buf.sensor.accelerometer_timestamp != accelerometer_timestamp) {
+				accelerometer_timestamp = buf.sensor.accelerometer_timestamp;
 				write_IMU = true;
 			}
 
-			if (buf.sensor.magnetometer_counter != magnetometer_counter) {
-				magnetometer_counter = buf.sensor.magnetometer_counter;
+			if (buf.sensor.magnetometer_timestamp != magnetometer_timestamp) {
+				magnetometer_timestamp = buf.sensor.magnetometer_timestamp;
 				write_IMU = true;
 			}
 
-			if (buf.sensor.baro_counter != baro_counter) {
-				baro_counter = buf.sensor.baro_counter;
+			if (buf.sensor.baro_timestamp != barometer_timestamp) {
+				barometer_timestamp = buf.sensor.baro_timestamp;
 				write_SENS = true;
 			}
 
-			if (buf.sensor.differential_pressure_counter != differential_pressure_counter) {
-				differential_pressure_counter = buf.sensor.differential_pressure_counter;
+			if (buf.sensor.differential_pressure_timestamp != differential_pressure_timestamp) {
+				differential_pressure_timestamp = buf.sensor.differential_pressure_timestamp;
 				write_SENS = true;
 			}
 
@@ -1023,6 +1023,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 				log_msg.body.log_SENS.diff_pres = buf.sensor.differential_pressure_pa;
 				LOGBUFFER_WRITE_AND_COUNT(SENS);
 			}
+
 		}
 
 		/* --- ATTITUDE --- */

src/modules/sensors/sensors.cpp

@@ -940,7 +940,7 @@ Sensors::accel_poll(struct sensor_combined_s &raw)
 		raw.accelerometer_raw[1] = accel_report.y_raw;
 		raw.accelerometer_raw[2] = accel_report.z_raw;
 
-		raw.accelerometer_counter++;
+		raw.accelerometer_timestamp = accel_report.timestamp;
 	}
 }
 
@@ -966,7 +966,7 @@ Sensors::gyro_poll(struct sensor_combined_s &raw)
 		raw.gyro_raw[1] = gyro_report.y_raw;
 		raw.gyro_raw[2] = gyro_report.z_raw;
 
-		raw.gyro_counter++;
+		raw.timestamp = gyro_report.timestamp;
 	}
 }
 
@@ -996,7 +996,7 @@ Sensors::mag_poll(struct sensor_combined_s &raw)
 		raw.magnetometer_raw[1] = mag_report.y_raw;
 		raw.magnetometer_raw[2] = mag_report.z_raw;
 
-		raw.magnetometer_counter++;
+		raw.magnetometer_timestamp = mag_report.timestamp;
 	}
 }
 
@@ -1014,7 +1014,7 @@ Sensors::baro_poll(struct sensor_combined_s &raw)
 		raw.baro_alt_meter = _barometer.altitude; // Altitude in meters
 		raw.baro_temp_celcius = _barometer.temperature; // Temperature in degrees celcius
 
-		raw.baro_counter++;
+		raw.baro_timestamp = _barometer.timestamp;
 	}
 }
 
@@ -1028,7 +1028,7 @@ Sensors::diff_pres_poll(struct sensor_combined_s &raw)
 		orb_copy(ORB_ID(differential_pressure), _diff_pres_sub, &_diff_pres);
 
 		raw.differential_pressure_pa = _diff_pres.differential_pressure_pa;
-		raw.differential_pressure_counter++;
+		raw.differential_pressure_timestamp = _diff_pres.timestamp;
 
 		_airspeed.indicated_airspeed_m_s = calc_indicated_airspeed(_diff_pres.differential_pressure_pa);
 		_airspeed.true_airspeed_m_s = calc_true_airspeed(_diff_pres.differential_pressure_pa + raw.baro_pres_mbar * 1e2f,

src/modules/uORB/topics/sensor_combined.h

@@ -77,34 +77,33 @@ struct sensor_combined_s {
 
 	/* NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes Change with consideration only   */
 
-	uint64_t timestamp;			/**< Timestamp in microseconds since boot         */
+	uint64_t timestamp;			/**< Timestamp in microseconds since boot, from gyro         */
 
 	int16_t	gyro_raw[3];			/**< Raw sensor values of angular velocity        */
-	uint16_t gyro_counter;			/**< Number of raw measurments taken              */
 	float gyro_rad_s[3];			/**< Angular velocity in radian per seconds       */
 
 	int16_t accelerometer_raw[3];		/**< Raw acceleration in NED body frame           */
-	uint32_t accelerometer_counter;		/**< Number of raw acc measurements taken         */
 	float accelerometer_m_s2[3];		/**< Acceleration in NED body frame, in m/s^2     */
 	int accelerometer_mode;			/**< Accelerometer measurement mode */
 	float accelerometer_range_m_s2;		/**< Accelerometer measurement range in m/s^2 */
+	uint64_t accelerometer_timestamp;	/**< Accelerometer timestamp        */
 
 	int16_t	magnetometer_raw[3];		/**< Raw magnetic field in NED body frame         */
 	float magnetometer_ga[3];		/**< Magnetic field in NED body frame, in Gauss   */
 	int magnetometer_mode;			/**< Magnetometer measurement mode */
 	float magnetometer_range_ga;		/**< ± measurement range in Gauss */
 	float magnetometer_cuttoff_freq_hz;	/**< Internal analog low pass frequency of sensor */
-	uint32_t magnetometer_counter;		/**< Number of raw mag measurements taken         */
+	uint64_t magnetometer_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               */
 	float adc_voltage_v[4];			/**< ADC voltages of ADC Chan 10/11/12/13 or -1      */
 	float mcu_temp_celcius;			/**< Internal temperature measurement of MCU */
-	uint32_t baro_counter;			/**< Number of raw baro measurements taken        */
+	uint64_t baro_timestamp;		/**< Barometer timestamp        */
 
 	float differential_pressure_pa;				/**< Airspeed sensor differential pressure                  */
-	uint32_t differential_pressure_counter;		/**< Number of raw differential pressure measurements taken */
+	uint64_t differential_pressure_timestamp;		/**< Last measurement timestamp */
 };
 
 /**