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msg: rename sensor_bias -> estimator_sensor_bias

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This commit is contained in:
Daniel Agar
2020-01-26 17:19:47 -05:00
committed by Lorenz Meier
parent db49e5abcd
commit 10410fc868
11 changed files with 37 additions and 39 deletions
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2
msg/CMakeLists.txt
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@@ -61,6 +61,7 @@ set(msg_files
esc_report.msg esc_report.msg
esc_status.msg esc_status.msg
estimator_innovations.msg estimator_innovations.msg
estimator_sensor_bias.msg
estimator_status.msg estimator_status.msg
follow_target.msg follow_target.msg
geofence_result.msg geofence_result.msg
@@ -108,7 +109,6 @@ set(msg_files
sensor_accel_integrated.msg sensor_accel_integrated.msg
sensor_accel_status.msg sensor_accel_status.msg
sensor_baro.msg sensor_baro.msg
sensor_bias.msg
sensor_combined.msg sensor_combined.msg
sensor_correction.msg sensor_correction.msg
sensor_gyro.msg sensor_gyro.msg

0
msg/sensor_bias.msg → msg/estimator_sensor_bias.msg
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2
msg/tools/uorb_rtps_message_ids.yaml
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@@ -147,7 +147,7 @@ rtps:
- msg: sensor_baro - msg: sensor_baro
id: 63 id: 63
send: true send: true
- msg: sensor_bias - msg: estimator_sensor_bias
id: 64 id: 64
- msg: sensor_combined - msg: sensor_combined
id: 65 id: 65

22
src/modules/ekf2/ekf2_main.cpp
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@@ -56,15 +56,15 @@
#include <uORB/SubscriptionCallback.hpp> #include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/airspeed.h> #include <uORB/topics/airspeed.h>
#include <uORB/topics/distance_sensor.h> #include <uORB/topics/distance_sensor.h>
#include <uORB/topics/estimator_innovations.h>
#include <uORB/topics/ekf2_timestamps.h> #include <uORB/topics/ekf2_timestamps.h>
#include <uORB/topics/ekf_gps_position.h>
#include <uORB/topics/estimator_status.h>
#include <uORB/topics/ekf_gps_drift.h> #include <uORB/topics/ekf_gps_drift.h>
#include <uORB/topics/ekf_gps_position.h>
#include <uORB/topics/estimator_innovations.h>
#include <uORB/topics/estimator_sensor_bias.h>
#include <uORB/topics/estimator_status.h>
#include <uORB/topics/landing_target_pose.h> #include <uORB/topics/landing_target_pose.h>
#include <uORB/topics/optical_flow.h> #include <uORB/topics/optical_flow.h>
#include <uORB/topics/parameter_update.h> #include <uORB/topics/parameter_update.h>
#include <uORB/topics/sensor_bias.h>
#include <uORB/topics/sensor_combined.h> #include <uORB/topics/sensor_combined.h>
#include <uORB/topics/sensor_selection.h> #include <uORB/topics/sensor_selection.h>
#include <uORB/topics/vehicle_air_data.h> #include <uORB/topics/vehicle_air_data.h>
@@ -263,20 +263,20 @@ private:
vehicle_land_detected_s _vehicle_land_detected{}; vehicle_land_detected_s _vehicle_land_detected{};
vehicle_status_s _vehicle_status{}; vehicle_status_s _vehicle_status{};
uORB::Publication<estimator_innovations_s> _estimator_innovations_pub{ORB_ID(estimator_innovations)};
uORB::Publication<estimator_innovations_s> _estimator_innovation_variances_pub{ORB_ID(estimator_innovation_variances)};
uORB::Publication<estimator_innovations_s> _estimator_innovation_test_ratios_pub{ORB_ID(estimator_innovation_test_ratios)};
uORB::Publication<ekf2_timestamps_s> _ekf2_timestamps_pub{ORB_ID(ekf2_timestamps)}; uORB::Publication<ekf2_timestamps_s> _ekf2_timestamps_pub{ORB_ID(ekf2_timestamps)};
uORB::Publication<ekf_gps_drift_s> _ekf_gps_drift_pub{ORB_ID(ekf_gps_drift)}; uORB::Publication<ekf_gps_drift_s> _ekf_gps_drift_pub{ORB_ID(ekf_gps_drift)};
uORB::Publication<ekf_gps_position_s> _blended_gps_pub{ORB_ID(ekf_gps_position)}; uORB::Publication<ekf_gps_position_s> _blended_gps_pub{ORB_ID(ekf_gps_position)};
uORB::Publication<estimator_innovations_s> _estimator_innovation_test_ratios_pub{ORB_ID(estimator_innovation_test_ratios)};
uORB::Publication<estimator_innovations_s> _estimator_innovation_variances_pub{ORB_ID(estimator_innovation_variances)};
uORB::Publication<estimator_innovations_s> _estimator_innovations_pub{ORB_ID(estimator_innovations)};
uORB::Publication<estimator_sensor_bias_s> _estimator_sensor_bias_pub{ORB_ID(estimator_sensor_bias)};
uORB::Publication<estimator_status_s> _estimator_status_pub{ORB_ID(estimator_status)}; uORB::Publication<estimator_status_s> _estimator_status_pub{ORB_ID(estimator_status)};
uORB::Publication<sensor_bias_s> _sensor_bias_pub{ORB_ID(sensor_bias)};
uORB::Publication<vehicle_attitude_s> _att_pub{ORB_ID(vehicle_attitude)}; uORB::Publication<vehicle_attitude_s> _att_pub{ORB_ID(vehicle_attitude)};
uORB::Publication<vehicle_odometry_s> _vehicle_odometry_pub{ORB_ID(vehicle_odometry)}; uORB::Publication<vehicle_odometry_s> _vehicle_odometry_pub{ORB_ID(vehicle_odometry)};
uORB::PublicationMulti<wind_estimate_s> _wind_pub{ORB_ID(wind_estimate)};
uORB::PublicationData<vehicle_global_position_s> _vehicle_global_position_pub{ORB_ID(vehicle_global_position)}; uORB::PublicationData<vehicle_global_position_s> _vehicle_global_position_pub{ORB_ID(vehicle_global_position)};
uORB::PublicationData<vehicle_local_position_s> _vehicle_local_position_pub{ORB_ID(vehicle_local_position)}; uORB::PublicationData<vehicle_local_position_s> _vehicle_local_position_pub{ORB_ID(vehicle_local_position)};
uORB::PublicationData<vehicle_odometry_s> _vehicle_visual_odometry_aligned_pub{ORB_ID(vehicle_visual_odometry_aligned)}; uORB::PublicationData<vehicle_odometry_s> _vehicle_visual_odometry_aligned_pub{ORB_ID(vehicle_visual_odometry_aligned)};
uORB::PublicationMulti<wind_estimate_s> _wind_pub{ORB_ID(wind_estimate)};
Ekf _ekf; Ekf _ekf;
@@ -753,7 +753,7 @@ void Ekf2::Run()
imuSample imu_sample_new {}; imuSample imu_sample_new {};
hrt_abstime imu_dt = 0; // for tracking time slip later hrt_abstime imu_dt = 0; // for tracking time slip later
sensor_bias_s bias{}; estimator_sensor_bias_s bias{};
if (_imu_sub_index >= 0) { if (_imu_sub_index >= 0) {
vehicle_imu_s imu; vehicle_imu_s imu;
@@ -1490,7 +1490,7 @@ void Ekf2::Run()
bias.mag_bias[1] = _last_valid_mag_cal[1]; bias.mag_bias[1] = _last_valid_mag_cal[1];
bias.mag_bias[2] = _last_valid_mag_cal[2]; bias.mag_bias[2] = _last_valid_mag_cal[2];
_sensor_bias_pub.publish(bias); _estimator_sensor_bias_pub.publish(bias);
} }
// publish estimator status // publish estimator status

12
src/modules/land_detector/LandDetector.h
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@@ -43,21 +43,21 @@
#pragma once #pragma once
#include <float.h> #include <float.h>
#include <lib/hysteresis/hysteresis.h>
#include <math.h> #include <math.h>
#include <perf/perf_counter.h>
#include <px4_platform_common/px4_config.h> #include <lib/hysteresis/hysteresis.h>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/defines.h> #include <px4_platform_common/defines.h>
#include <px4_platform_common/module.h> #include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/module.h> #include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h> #include <px4_platform_common/module_params.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp> #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/Publication.hpp> #include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/actuator_armed.h> #include <uORB/topics/actuator_armed.h>
#include <uORB/topics/parameter_update.h> #include <uORB/topics/parameter_update.h>
#include <uORB/topics/sensor_bias.h>
#include <uORB/topics/vehicle_acceleration.h> #include <uORB/topics/vehicle_acceleration.h>
#include <uORB/topics/vehicle_land_detected.h> #include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/vehicle_local_position.h> #include <uORB/topics/vehicle_local_position.h>

2
src/modules/logger/logged_topics.cpp
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@@ -58,6 +58,7 @@ void LoggedTopics::add_default_topics()
add_topic("estimator_innovation_test_ratios", 200); add_topic("estimator_innovation_test_ratios", 200);
add_topic("estimator_innovation_variances", 200); add_topic("estimator_innovation_variances", 200);
add_topic("estimator_innovations", 200); add_topic("estimator_innovations", 200);
add_topic("estimator_sensor_bias", 1000);
add_topic("estimator_status", 200); add_topic("estimator_status", 200);
add_topic("home_position"); add_topic("home_position");
add_topic("input_rc", 200); add_topic("input_rc", 200);
@@ -70,7 +71,6 @@ void LoggedTopics::add_default_topics()
add_topic("radio_status"); add_topic("radio_status");
add_topic("rate_ctrl_status", 200); add_topic("rate_ctrl_status", 200);
add_topic("safety", 1000); add_topic("safety", 1000);
add_topic("sensor_bias", 1000);
add_topic("sensor_combined", 100); add_topic("sensor_combined", 100);
add_topic("sensor_correction", 1000); add_topic("sensor_correction", 1000);
add_topic("sensor_preflight", 200); add_topic("sensor_preflight", 200);

6
src/modules/mavlink/mavlink_messages.cpp
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@@ -70,6 +70,7 @@
#include <uORB/topics/debug_vect.h> #include <uORB/topics/debug_vect.h>
#include <uORB/topics/differential_pressure.h> #include <uORB/topics/differential_pressure.h>
#include <uORB/topics/distance_sensor.h> #include <uORB/topics/distance_sensor.h>
#include <uORB/topics/estimator_sensor_bias.h>
#include <uORB/topics/estimator_status.h> #include <uORB/topics/estimator_status.h>
#include <uORB/topics/geofence_result.h> #include <uORB/topics/geofence_result.h>
#include <uORB/topics/home_position.h> #include <uORB/topics/home_position.h>
@@ -84,7 +85,6 @@
#include <uORB/topics/position_setpoint_triplet.h> #include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/sensor_accel_integrated.h> #include <uORB/topics/sensor_accel_integrated.h>
#include <uORB/topics/sensor_accel_status.h> #include <uORB/topics/sensor_accel_status.h>
#include <uORB/topics/sensor_bias.h>
#include <uORB/topics/sensor_combined.h> #include <uORB/topics/sensor_combined.h>
#include <uORB/topics/sensor_gyro_integrated.h> #include <uORB/topics/sensor_gyro_integrated.h>
#include <uORB/topics/sensor_mag.h> #include <uORB/topics/sensor_mag.h>
@@ -816,7 +816,7 @@ protected:
explicit MavlinkStreamHighresIMU(Mavlink *mavlink) : MavlinkStream(mavlink), explicit MavlinkStreamHighresIMU(Mavlink *mavlink) : MavlinkStream(mavlink),
_sensor_sub(_mavlink->add_orb_subscription(ORB_ID(sensor_combined))), _sensor_sub(_mavlink->add_orb_subscription(ORB_ID(sensor_combined))),
_sensor_time(0), _sensor_time(0),
_bias_sub(_mavlink->add_orb_subscription(ORB_ID(sensor_bias))), _bias_sub(_mavlink->add_orb_subscription(ORB_ID(estimator_sensor_bias))),
_differential_pressure_sub(_mavlink->add_orb_subscription(ORB_ID(differential_pressure))), _differential_pressure_sub(_mavlink->add_orb_subscription(ORB_ID(differential_pressure))),
_magnetometer_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_magnetometer))), _magnetometer_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_magnetometer))),
_air_data_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_air_data))), _air_data_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_air_data))),
@@ -864,7 +864,7 @@ protected:
_baro_timestamp = air_data.timestamp; _baro_timestamp = air_data.timestamp;
} }
sensor_bias_s bias = {}; estimator_sensor_bias_s bias{};
_bias_sub->update(&bias); _bias_sub->update(&bias);
differential_pressure_s differential_pressure = {}; differential_pressure_s differential_pressure = {};

6
src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp
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@@ -79,10 +79,10 @@ void VehicleAcceleration::Stop()
void VehicleAcceleration::SensorBiasUpdate(bool force) void VehicleAcceleration::SensorBiasUpdate(bool force)
{ {
if (_sensor_bias_sub.updated() || force) { if (_estimator_sensor_bias_sub.updated() || force) {
sensor_bias_s bias; estimator_sensor_bias_s bias;
if (_sensor_bias_sub.copy(&bias)) { if (_estimator_sensor_bias_sub.copy(&bias)) {
if (bias.accel_device_id == _selected_sensor_device_id) { if (bias.accel_device_id == _selected_sensor_device_id) {
_bias = Vector3f{bias.accel_bias}; _bias = Vector3f{bias.accel_bias};

9
src/modules/sensors/vehicle_acceleration/VehicleAcceleration.hpp
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@@ -36,19 +36,18 @@
#include <lib/conversion/rotation.h> #include <lib/conversion/rotation.h>
#include <lib/mathlib/math/Limits.hpp> #include <lib/mathlib/math/Limits.hpp>
#include <lib/matrix/matrix/math.hpp> #include <lib/matrix/matrix/math.hpp>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/log.h> #include <px4_platform_common/log.h>
#include <px4_platform_common/module_params.h> #include <px4_platform_common/module_params.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/px4_work_queue/WorkItem.hpp> #include <px4_platform_common/px4_work_queue/WorkItem.hpp>
#include <uORB/Publication.hpp> #include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp> #include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp> #include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/estimator_sensor_bias.h>
#include <uORB/topics/parameter_update.h> #include <uORB/topics/parameter_update.h>
#include <uORB/topics/sensor_bias.h> #include <uORB/topics/sensor_accel.h>
#include <uORB/topics/sensor_correction.h> #include <uORB/topics/sensor_correction.h>
#include <uORB/topics/sensor_selection.h> #include <uORB/topics/sensor_selection.h>
#include <uORB/topics/sensor_accel.h>
#include <uORB/topics/vehicle_acceleration.h> #include <uORB/topics/vehicle_acceleration.h>
class VehicleAcceleration : public ModuleParams, public px4::WorkItem class VehicleAcceleration : public ModuleParams, public px4::WorkItem
@@ -84,7 +83,7 @@ private:
uORB::Publication<vehicle_acceleration_s> _vehicle_acceleration_pub{ORB_ID(vehicle_acceleration)}; uORB::Publication<vehicle_acceleration_s> _vehicle_acceleration_pub{ORB_ID(vehicle_acceleration)};
uORB::Subscription _params_sub{ORB_ID(parameter_update)}; uORB::Subscription _params_sub{ORB_ID(parameter_update)};
uORB::Subscription _sensor_bias_sub{ORB_ID(sensor_bias)}; uORB::Subscription _estimator_sensor_bias_sub{ORB_ID(estimator_sensor_bias)};
uORB::Subscription _sensor_correction_sub{ORB_ID(sensor_correction)}; uORB::Subscription _sensor_correction_sub{ORB_ID(sensor_correction)};
uORB::SubscriptionCallbackWorkItem _sensor_selection_sub{this, ORB_ID(sensor_selection)}; uORB::SubscriptionCallbackWorkItem _sensor_selection_sub{this, ORB_ID(sensor_selection)};

6
src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
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@@ -79,10 +79,10 @@ void VehicleAngularVelocity::Stop()
void VehicleAngularVelocity::SensorBiasUpdate(bool force) void VehicleAngularVelocity::SensorBiasUpdate(bool force)
{ {
if (_sensor_bias_sub.updated() || force) { if (_estimator_sensor_bias_sub.updated() || force) {
sensor_bias_s bias; estimator_sensor_bias_s bias;
if (_sensor_bias_sub.copy(&bias)) { if (_estimator_sensor_bias_sub.copy(&bias)) {
if (bias.gyro_device_id == _selected_sensor_device_id) { if (bias.gyro_device_id == _selected_sensor_device_id) {
_bias = Vector3f{bias.gyro_bias}; _bias = Vector3f{bias.gyro_bias};

9
src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp
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@@ -36,19 +36,18 @@
#include <lib/conversion/rotation.h> #include <lib/conversion/rotation.h>
#include <lib/mathlib/math/Limits.hpp> #include <lib/mathlib/math/Limits.hpp>
#include <lib/matrix/matrix/math.hpp> #include <lib/matrix/matrix/math.hpp>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/log.h> #include <px4_platform_common/log.h>
#include <px4_platform_common/module_params.h> #include <px4_platform_common/module_params.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/px4_work_queue/WorkItem.hpp> #include <px4_platform_common/px4_work_queue/WorkItem.hpp>
#include <uORB/Publication.hpp> #include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp> #include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp> #include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/estimator_sensor_bias.h>
#include <uORB/topics/parameter_update.h> #include <uORB/topics/parameter_update.h>
#include <uORB/topics/sensor_bias.h>
#include <uORB/topics/sensor_correction.h> #include <uORB/topics/sensor_correction.h>
#include <uORB/topics/sensor_selection.h>
#include <uORB/topics/sensor_gyro.h> #include <uORB/topics/sensor_gyro.h>
#include <uORB/topics/sensor_selection.h>
#include <uORB/topics/vehicle_angular_velocity.h> #include <uORB/topics/vehicle_angular_velocity.h>
class VehicleAngularVelocity : public ModuleParams, public px4::WorkItem class VehicleAngularVelocity : public ModuleParams, public px4::WorkItem
@@ -84,7 +83,7 @@ private:
uORB::Publication<vehicle_angular_velocity_s> _vehicle_angular_velocity_pub{ORB_ID(vehicle_angular_velocity)}; uORB::Publication<vehicle_angular_velocity_s> _vehicle_angular_velocity_pub{ORB_ID(vehicle_angular_velocity)};
uORB::Subscription _params_sub{ORB_ID(parameter_update)}; uORB::Subscription _params_sub{ORB_ID(parameter_update)};
uORB::Subscription _sensor_bias_sub{ORB_ID(sensor_bias)}; uORB::Subscription _estimator_sensor_bias_sub{ORB_ID(estimator_sensor_bias)};
uORB::Subscription _sensor_correction_sub{ORB_ID(sensor_correction)}; uORB::Subscription _sensor_correction_sub{ORB_ID(sensor_correction)};
uORB::SubscriptionCallbackWorkItem _sensor_selection_sub{this, ORB_ID(sensor_selection)}; uORB::SubscriptionCallbackWorkItem _sensor_selection_sub{this, ORB_ID(sensor_selection)};