yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 01:12:31 +00:00
Code Issues Packages Projects Releases Wiki Activity

vehicle_angular_velocity: sensor_selection callback

Browse Source 
- needed to update the main sensor_gyro subscription if the primary
stops responding
This commit is contained in:
Daniel Agar
2019-08-06 13:28:06 -04:00
parent b945e28e08
commit 7b179776e2
2 changed files with 9 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
View File

@@ -68,7 +68,8 @@ VehicleAngularVelocity::Start()
ParametersUpdate(true); ParametersUpdate(true);
SensorBiasUpdate(true); SensorBiasUpdate(true);
_sensor_correction_sub.register_callback(); // needed to change the active sensor if the primary stops updating
_sensor_selection_sub.register_callback();
return SensorCorrectionsUpdate(true); return SensorCorrectionsUpdate(true);
} }
@@ -83,7 +84,7 @@ VehicleAngularVelocity::Stop()
sub.unregister_callback(); sub.unregister_callback();
} }
_sensor_correction_sub.unregister_callback(); _sensor_selection_sub.unregister_callback();
} }
void void

4
src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp
View File

@@ -50,6 +50,7 @@
#include <uORB/topics/sensor_bias.h> #include <uORB/topics/sensor_bias.h>
#include <uORB/topics/sensor_correction.h> #include <uORB/topics/sensor_correction.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>
#define MAX_GYRO_COUNT 3 #define MAX_GYRO_COUNT 3
@@ -87,8 +88,9 @@ private:
uORB::Subscription _params_sub{ORB_ID(parameter_update)}; /**< parameter updates subscription */ uORB::Subscription _params_sub{ORB_ID(parameter_update)}; /**< parameter updates subscription */
uORB::Subscription _sensor_bias_sub{ORB_ID(sensor_bias)}; /**< sensor in-run bias correction subscription */ uORB::Subscription _sensor_bias_sub{ORB_ID(sensor_bias)}; /**< sensor in-run bias correction subscription */
uORB::Subscription _sensor_correction_sub{ORB_ID(sensor_correction)}; /**< sensor thermal correction subscription */
uORB::SubscriptionCallbackWorkItem _sensor_correction_sub{this, ORB_ID(sensor_correction)}; /**< sensor thermal correction subscription */ uORB::SubscriptionCallbackWorkItem _sensor_selection_sub{this, ORB_ID(sensor_selection)}; /**< selected primary sensor subscription */
uORB::SubscriptionCallbackWorkItem _sensor_gyro_sub[MAX_GYRO_COUNT] { /**< gyro data subscription */ uORB::SubscriptionCallbackWorkItem _sensor_gyro_sub[MAX_GYRO_COUNT] { /**< gyro data subscription */
{this, ORB_ID(sensor_gyro), 0}, {this, ORB_ID(sensor_gyro), 0},
{this, ORB_ID(sensor_gyro), 1}, {this, ORB_ID(sensor_gyro), 1},