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Sensors.cpp - case the uorb topics like SensorGyro

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This commit is contained in:
Hamish Willee
2023-02-23 16:49:19 +11:00
committed by Beat Küng
parent ea6814d258
commit 4daa63afc2
1 changed files with 3 additions and 3 deletions
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src/modules/sensors/sensors.cpp
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@@ -771,14 +771,14 @@ The sensors module is central to the whole system. It takes low-level output fro
it into a more usable form, and publishes it for the rest of the system. it into a more usable form, and publishes it for the rest of the system.
The provided functionality includes: The provided functionality includes:
- Read the output from the sensor drivers (`sensor_gyro`, etc.). - Read the output from the sensor drivers (`SensorGyro`, etc.).
If there are multiple of the same type, do voting and failover handling. If there are multiple of the same type, do voting and failover handling.
Then apply the board rotation and temperature calibration (if enabled). And finally publish the data; one of the Then apply the board rotation and temperature calibration (if enabled). And finally publish the data; one of the
topics is `sensor_combined`, used by many parts of the system. topics is `SensorCombined`, used by many parts of the system.
- Make sure the sensor drivers get the updated calibration parameters (scale & offset) when the parameters change or - Make sure the sensor drivers get the updated calibration parameters (scale & offset) when the parameters change or
on startup. The sensor drivers use the ioctl interface for parameter updates. For this to work properly, the on startup. The sensor drivers use the ioctl interface for parameter updates. For this to work properly, the
sensor drivers must already be running when `sensors` is started. sensor drivers must already be running when `sensors` is started.
- Do sensor consistency checks and publish the `sensors_status_imu` topic. - Do sensor consistency checks and publish the `SensorsStatusImu` topic.
### Implementation ### Implementation
It runs in its own thread and polls on the currently selected gyro topic. It runs in its own thread and polls on the currently selected gyro topic.