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sensors : add sensor priority order

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This commit is contained in:
Mohammed Kabir
2015-08-13 14:33:13 +05:30
committed by Lorenz Meier
parent 41b3452e22
commit 10360a93b7
2 changed files with 75 additions and 2 deletions
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21
msg/sensor_combined.msg
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@@ -4,6 +4,14 @@ int32 MAGNETOMETER_MODE_NORMAL = 0
int32 MAGNETOMETER_MODE_POSITIVE_BIAS = 1
int32 MAGNETOMETER_MODE_NEGATIVE_BIAS = 2
uint32 SENSOR_PRIO_MIN = 0
uint32 SENSOR_PRIO_VERY_LOW = 25
uint32 SENSOR_PRIO_LOW = 50
uint32 SENSOR_PRIO_DEFAULT = 75
uint32 SENSOR_PRIO_HIGH = 100
uint32 SENSOR_PRIO_VERY_HIGH = 125
uint32 SENSOR_PRIO_MAX = 255
# Sensor readings in raw and SI-unit form.
#
# These values are read from the sensors. Raw values are in sensor-specific units,
@@ -21,6 +29,7 @@ uint64 timestamp # Timestamp in microseconds since boot, from gyro
#
int16[3] gyro_raw # Raw sensor values of angular velocity
float32[3] gyro_rad_s # Angular velocity in radian per seconds
uint32 gyro_priority # Sensor priority
uint32 gyro_errcount # Error counter for gyro 0
float32 gyro_temp # Temperature of gyro 0
@@ -29,6 +38,7 @@ float32[3] accelerometer_m_s2 # Acceleration in NED body frame, in m/s^2
int16 accelerometer_mode # Accelerometer measurement mode
float32 accelerometer_range_m_s2 # Accelerometer measurement range in m/s^2
uint64 accelerometer_timestamp # Accelerometer timestamp
uint32 accelerometer_priority # Sensor priority
uint32 accelerometer_errcount # Error counter for accel 0
float32 accelerometer_temp # Temperature of accel 0
@@ -38,42 +48,49 @@ int16 magnetometer_mode # Magnetometer measurement mode
float32 magnetometer_range_ga # measurement range in Gauss
float32 magnetometer_cuttoff_freq_hz # Internal analog low pass frequency of sensor
uint64 magnetometer_timestamp # Magnetometer timestamp
uint32 magnetometer_priority # Sensor priority
uint32 magnetometer_errcount # Error counter for mag 0
float32 magnetometer_temp # Temperature of mag 0
int16[3] gyro1_raw # Raw sensor values of angular velocity
float32[3] gyro1_rad_s # Angular velocity in radian per seconds
uint64 gyro1_timestamp # Gyro timestamp
uint32 gyro1_priority # Sensor priority
uint32 gyro1_errcount # Error counter for gyro 1
float32 gyro1_temp # Temperature of gyro 1
int16[3] accelerometer1_raw # Raw acceleration in NED body frame
float32[3] accelerometer1_m_s2 # Acceleration in NED body frame, in m/s^2
uint64 accelerometer1_timestamp # Accelerometer timestamp
uint32 accelerometer1_priority # Sensor priority
uint32 accelerometer1_errcount # Error counter for accel 1
float32 accelerometer1_temp # Temperature of accel 1
int16[3] magnetometer1_raw # Raw magnetic field in NED body frame
float32[3] magnetometer1_ga # Magnetic field in NED body frame, in Gauss
uint64 magnetometer1_timestamp # Magnetometer timestamp
uint32 magnetometer1_priority # Sensor priority
uint32 magnetometer1_errcount # Error counter for mag 1
float32 magnetometer1_temp # Temperature of mag 1
int16[3] gyro2_raw # Raw sensor values of angular velocity
float32[3] gyro2_rad_s # Angular velocity in radian per seconds
uint64 gyro2_timestamp # Gyro timestamp
uint32 gyro2_priority # Sensor priority
uint32 gyro2_errcount # Error counter for gyro 1
float32 gyro2_temp # Temperature of gyro 1
int16[3] accelerometer2_raw # Raw acceleration in NED body frame
float32[3] accelerometer2_m_s2 # Acceleration in NED body frame, in m/s^2
uint64 accelerometer2_timestamp # Accelerometer timestamp
uint32 accelerometer2_priority # Sensor priority
uint32 accelerometer2_errcount # Error counter for accel 2
float32 accelerometer2_temp # Temperature of accel 2
int16[3] magnetometer2_raw # Raw magnetic field in NED body frame
float32[3] magnetometer2_ga # Magnetic field in NED body frame, in Gauss
uint64 magnetometer2_timestamp # Magnetometer timestamp
uint32 magnetometer2_priority # Sensor priority
uint32 magnetometer2_errcount # Error counter for mag 2
float32 magnetometer2_temp # Temperature of mag 2
@@ -81,11 +98,13 @@ float32 baro_pres_mbar # Barometric pressure, already temp. comp.
float32 baro_alt_meter # Altitude, already temp. comp.
float32 baro_temp_celcius # Temperature in degrees celsius
uint64 baro_timestamp # Barometer timestamp
uint32 baro_priority # Sensor priority
float32 baro1_pres_mbar # Barometric pressure, already temp. comp.
float32 baro1_alt_meter # Altitude, already temp. comp.
float32 baro1_temp_celcius # Temperature in degrees celsius
uint64 baro1_timestamp # Barometer timestamp
uint32 baro1_priority # Sensor priority
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
@@ -94,7 +113,9 @@ float32 mcu_temp_celcius # Internal temperature measurement of MCU
float32 differential_pressure_pa # Airspeed sensor differential pressure
uint64 differential_pressure_timestamp # Last measurement timestamp
float32 differential_pressure_filtered_pa # Low pass filtered airspeed sensor differential pressure reading
uint32 differential_pressure_priority # Sensor priority
float32 differential_pressure1_pa # Airspeed sensor differential pressure
uint64 differential_pressure1_timestamp # Last measurement timestamp
float32 differential_pressure1_filtered_pa # Low pass filtered airspeed sensor differential pressure reading
uint32 differential_pressure1_priority # Sensor priority