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cleanup sensor_combined: remove adc & differential_pressure fields

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These are not really used. differential_pressure is just copied from the
topic with the same name.

for sdlog2 we assume no one needs the diff pressure fields and set it to 0.
We plan to switch to the new logger soon anyway.
This commit is contained in:
Beat Küng
2016-06-21 14:12:13 +02:00
committed by Lorenz Meier
parent 2c2477a07d
commit c407123a72
5 changed files with 11 additions and 40 deletions
Download Patch File Download Diff File Expand all files Collapse all files
msg/sensor_combined.msg
-10
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@@ -23,7 +23,6 @@ uint32 SENSOR_PRIO_MAX = 255
# Actual data, this is specific to the type of data which is stored in this struct
# A line containing L0GME will be added by the Python logging code generator to the logged dataset.
#
# NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes Change with consideration only
uint64[3] gyro_timestamp # Gyro timestamps
int16[9] gyro_raw # Raw sensor values of angular velocity
@@ -62,12 +61,3 @@ uint64[3] baro_timestamp # Barometer timestamp
uint32[3] baro_priority # Sensor priority
uint32[3] baro_errcount # Error count in communication
float32[10] adc_voltage_v # ADC voltages of ADC Chan 10/11/12/13 or -1
uint16[10] adc_mapping # Channel indices of each of these values
float32 mcu_temp_celcius # Internal temperature measurement of MCU
float32[3] differential_pressure_pa # Airspeed sensor differential pressure
uint64[3] differential_pressure_timestamp # Last measurement timestamp
float32[3] differential_pressure_filtered_pa # Low pass filtered airspeed sensor differential pressure reading
uint32[3] differential_pressure_priority # Sensor priority
uint32[3] differential_pressure_errcount # Error count in communication
src/modules/mavlink/mavlink_messages.cpp
+9 -1
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@@ -63,6 +63,7 @@
#include <uORB/topics/camera_trigger.h>
#include <uORB/topics/cpuload.h>
#include <uORB/topics/debug_key_value.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/distance_sensor.h>
#include <uORB/topics/estimator_status.h>
#include <uORB/topics/fw_pos_ctrl_status.h>
@@ -691,6 +692,9 @@ private:
MavlinkOrbSubscription *_sensor_sub;
uint64_t _sensor_time;
MavlinkOrbSubscription *_differential_pressure_sub;
uint64_t _differential_pressure_time;
uint64_t _accel_timestamp;
uint64_t _gyro_timestamp;
uint64_t _mag_timestamp;
@@ -704,6 +708,8 @@ protected:
explicit MavlinkStreamHighresIMU(Mavlink *mavlink) : MavlinkStream(mavlink),
_sensor_sub(_mavlink->add_orb_subscription(ORB_ID(sensor_combined))),
_sensor_time(0),
_differential_pressure_sub(_mavlink->add_orb_subscription(ORB_ID(differential_pressure))),
_differential_pressure_time(0),
_accel_timestamp(0),
_gyro_timestamp(0),
_mag_timestamp(0),
@@ -713,6 +719,7 @@ protected:
void send(const hrt_abstime t)
{
struct sensor_combined_s sensor;
struct differential_pressure_s differential_pressure;
if (_sensor_sub->update(&_sensor_time, &sensor)) {
uint16_t fields_updated = 0;
@@ -740,6 +747,7 @@ protected:
fields_updated |= (1 << 9) | (1 << 11) | (1 << 12);
_baro_timestamp = sensor.baro_timestamp[0];
}
_differential_pressure_sub->update(&_differential_pressure_time, &differential_pressure);
mavlink_highres_imu_t msg;
@@ -754,7 +762,7 @@ protected:
msg.ymag = sensor.magnetometer_ga[1];
msg.zmag = sensor.magnetometer_ga[2];
msg.abs_pressure = sensor.baro_pres_mbar[0];
msg.diff_pressure = sensor.differential_pressure_pa[0];
msg.diff_pressure = differential_pressure.differential_pressure_raw_pa;
msg.pressure_alt = sensor.baro_alt_meter[0];
msg.temperature = sensor.baro_temp_celcius[0];
msg.fields_updated = fields_updated;
src/modules/mavlink/mavlink_receiver.cpp
-8
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@@ -1705,10 +1705,6 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
hil_sensors.accelerometer_timestamp[0] = timestamp;
hil_sensors.accelerometer_priority[0] = ORB_PRIO_HIGH;
hil_sensors.adc_voltage_v[0] = 0.0f;
hil_sensors.adc_voltage_v[1] = 0.0f;
hil_sensors.adc_voltage_v[2] = 0.0f;
hil_sensors.magnetometer_raw[0] = imu.xmag * 1000.0f;
hil_sensors.magnetometer_raw[1] = imu.ymag * 1000.0f;
hil_sensors.magnetometer_raw[2] = imu.zmag * 1000.0f;
@@ -1726,10 +1722,6 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
hil_sensors.baro_temp_celcius[0] = imu.temperature;
hil_sensors.baro_timestamp[0] = timestamp;
hil_sensors.differential_pressure_pa[0] = imu.diff_pressure * 1e2f; //from hPa to Pa
hil_sensors.differential_pressure_filtered_pa[0] = hil_sensors.differential_pressure_pa[0];
hil_sensors.differential_pressure_timestamp[0] = timestamp;
/* publish combined sensor topic */
if (_sensors_pub == nullptr) {
_sensors_pub = orb_advertise(ORB_ID(sensor_combined), &hil_sensors);
src/modules/sdlog2/sdlog2.c
+2 -8
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@@ -1374,7 +1374,6 @@ int sdlog2_thread_main(int argc, char *argv[])
hrt_abstime accelerometer_timestamp[3] = {0, 0, 0};
hrt_abstime magnetometer_timestamp[3] = {0, 0, 0};
hrt_abstime barometer_timestamp[3] = {0, 0, 0};
hrt_abstime differential_pressure_timestamp[3] = {0, 0, 0};
/* initialize calculated mean SNR */
float snr_mean = 0.0f;
@@ -1659,11 +1658,6 @@ int sdlog2_thread_main(int argc, char *argv[])
write_SENS = true;
}
if (buf.sensor.differential_pressure_timestamp[i] != differential_pressure_timestamp[i]) {
differential_pressure_timestamp[i] = buf.sensor.differential_pressure_timestamp[i];
write_SENS = true;
}
if (write_IMU) {
switch (i) {
case 0:
@@ -1708,8 +1702,8 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_SENS.baro_pres = buf.sensor.baro_pres_mbar[i];
log_msg.body.log_SENS.baro_alt = buf.sensor.baro_alt_meter[i];
log_msg.body.log_SENS.baro_temp = buf.sensor.baro_temp_celcius[i];
log_msg.body.log_SENS.diff_pres = buf.sensor.differential_pressure_pa[i];
log_msg.body.log_SENS.diff_pres_filtered = buf.sensor.differential_pressure_filtered_pa[i];
log_msg.body.log_SENS.diff_pres = 0;
log_msg.body.log_SENS.diff_pres_filtered = 0;
LOGBUFFER_WRITE_AND_COUNT(SENS);
}
}
src/modules/sensors/sensors.cpp
-13
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@@ -1154,10 +1154,6 @@ Sensors::diff_pres_poll(struct sensor_combined_s &raw)
if (updated) {
orb_copy(ORB_ID(differential_pressure), _diff_pres_sub, &_diff_pres);
raw.differential_pressure_pa[0] = _diff_pres.differential_pressure_raw_pa;
raw.differential_pressure_timestamp[0] = _diff_pres.timestamp;
raw.differential_pressure_filtered_pa[0] = _diff_pres.differential_pressure_filtered_pa;
float air_temperature_celsius = (_diff_pres.temperature > -300.0f) ? _diff_pres.temperature :
(raw.baro_temp_celcius[0] - PCB_TEMP_ESTIMATE_DEG);
@@ -1671,11 +1667,6 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
/* Read add channels we got */
for (unsigned i = 0; i < ret / sizeof(buf_adc[0]); i++) {
/* Save raw voltage values */
if (i < (sizeof(raw.adc_voltage_v) / sizeof(raw.adc_voltage_v[0]))) {
raw.adc_voltage_v[i] = buf_adc[i].am_data / (4096.0f / 3.3f);
raw.adc_mapping[i] = buf_adc[i].am_channel;
}
/* look for specific channels and process the raw voltage to measurement data */
if (ADC_BATTERY_VOLTAGE_CHANNEL == buf_adc[i].am_channel) {
@@ -2145,10 +2136,6 @@ Sensors::task_main()
* do advertisements
*/
raw.timestamp = hrt_absolute_time();
raw.adc_voltage_v[0] = 0.0f;
raw.adc_voltage_v[1] = 0.0f;
raw.adc_voltage_v[2] = 0.0f;
raw.adc_voltage_v[3] = 0.0f;
_battery.reset(&_battery_status);