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simulated sensors minor cleanup

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- mavlink receiver use PX4Accelerometer/PX4Gyroscope for hil_sensor and hil_state_quaternion
 - simulator module remove unnecessary fake scaling
 - sih module remove unnecessary fake scaling
This commit is contained in:
Daniel Agar
2020-01-15 12:28:54 -05:00
parent 27e9b1e3d4
commit 4fef3dd7d5
5 changed files with 102 additions and 88 deletions
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12
src/modules/simulator/simulator_mavlink.cpp
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@@ -195,26 +195,20 @@ void Simulator::update_sensors(const hrt_abstime &time, const mavlink_hil_sensor
// gyro
if (!_param_sim_gyro_block.get()) {
static constexpr float scaling = 1000.0f;
_px4_gyro.set_scale(1 / scaling);
_px4_gyro.set_temperature(imu.temperature);
_px4_gyro.update(time, imu.xgyro * scaling, imu.ygyro * scaling, imu.zgyro * scaling);
_px4_gyro.update(time, imu.xgyro, imu.ygyro, imu.zgyro);
}
// accel
if (!_param_sim_accel_block.get()) {
static constexpr float scaling = 1000.0f;
_px4_accel.set_scale(1 / scaling);
_px4_accel.set_temperature(imu.temperature);
_px4_accel.update(time, imu.xacc * scaling, imu.yacc * scaling, imu.zacc * scaling);
_px4_accel.update(time, imu.xacc, imu.yacc, imu.zacc);
}
// magnetometer
if (!_param_sim_mag_block.get()) {
static constexpr float scaling = 1000.0f;
_px4_mag.set_scale(1 / scaling);
_px4_mag.set_temperature(imu.temperature);
_px4_mag.update(time, imu.xmag * scaling, imu.ymag * scaling, imu.zmag * scaling);
_px4_mag.update(time, imu.xmag, imu.ymag, imu.zmag);
}
// baro