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commander: calibration replace sensor_combined with vehicle_acceleration

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This commit is contained in:
Daniel Agar
2020-08-22 14:34:23 -04:00
parent 2c450280d2
commit 1d2e424c4c
3 changed files with 5 additions and 7 deletions
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src/modules/commander/calibration_routines.cpp
+5 -5
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@@ -52,7 +52,7 @@
#include <uORB/Publication.hpp>
#include <uORB/SubscriptionBlocking.hpp>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_acceleration.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_command_ack.h>
@@ -345,12 +345,12 @@ enum detect_orientation_return detect_orientation(orb_advert_t *mavlink_log_pub,
unsigned poll_errcount = 0;
// Setup subscriptions to onboard accel sensor
uORB::SubscriptionBlocking<sensor_combined_s> sensor_sub{ORB_ID(sensor_combined)};
uORB::SubscriptionBlocking<vehicle_acceleration_s> vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)};
while (true) {
sensor_combined_s sensor;
vehicle_acceleration_s accel;
if (sensor_sub.updateBlocking(sensor, 100000)) {
if (vehicle_acceleration_sub.updateBlocking(accel, 100000)) {
t = hrt_absolute_time();
float dt = (t - t_prev) / 1000000.0f;
t_prev = t;
@@ -358,7 +358,7 @@ enum detect_orientation_return detect_orientation(orb_advert_t *mavlink_log_pub,
for (unsigned i = 0; i < ndim; i++) {
float di = sensor.accelerometer_m_s2[i];
float di = accel.xyz[i];
float d = di - accel_ema[i];
accel_ema[i] += d * w;
src/modules/commander/gyro_calibration.cpp
-1
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@@ -55,7 +55,6 @@
#include <lib/systemlib/mavlink_log.h>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionBlocking.hpp>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/sensor_correction.h>
#include <uORB/topics/sensor_gyro.h>
src/modules/commander/rc_calibration.cpp
-1
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@@ -44,7 +44,6 @@
#include "commander_helper.h"
#include <uORB/Subscription.hpp>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <systemlib/mavlink_log.h>
#include <parameters/param.h>