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sensor accel/gyro message cleanup

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- split out integrated data into new standalone messages (sensor_accel_integrated and sensor_gyro_integrated)
 - publish sensor_gyro at full rate and remove sensor_gyro_control
 - limit sensor status publications to 10 Hz
 - remove unused accel/gyro raw ADC fields
 - add device IDs to sensor_bias and sensor_correction
    - vehicle_angular_velocity/vehicle_acceleration: check device ids before using bias and corrections
This commit is contained in:
Daniel Agar
2020-01-18 01:15:00 -05:00
committed by GitHub
parent 1d932f6ec9
commit bb465ca5b7
34 changed files with 696 additions and 756 deletions
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4
src/modules/ekf2/ekf2_main.cpp
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@@ -1472,6 +1472,10 @@ void Ekf2::Run()
bias.timestamp = now;
bias.gyro_device_id = _sensor_selection.gyro_device_id;
bias.accel_device_id = _sensor_selection.accel_device_id;
bias.mag_device_id = _sensor_selection.mag_device_id;
// In-run bias estimates
_ekf.get_gyro_bias(bias.gyro_bias);
_ekf.get_accel_bias(bias.accel_bias);