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sensors: move voting into sensors module

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- voting is now at a central place instead of duplicated within the
  estimators
  -> this also means that estimators that did not do voting so far,
     now have voting, like ekf2
- estimators requiring more than that can still subscribe to the raw
  sensors
- allows sensors_combined to be 3 times smaller
  - reduces logger, memcpy (cache) & RAM overhead
- all modules requiring only 1 or 2 sensor values now automatically get
  the voted result
- this also adds voting to baro
This commit is contained in:
Beat Küng
2016-06-25 12:28:02 +02:00
committed by Lorenz Meier
parent c50d267bfb
commit d846ad5dac
23 changed files with 560 additions and 632 deletions
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22
msg/sensor_combined.msg
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@@ -5,18 +5,18 @@
# change with board revisions and sensor updates.
#
uint64[3] gyro_timestamp # Gyro timestamps
float32[9] gyro_integral_rad # delta angle in the NED body frame in rad in the integration time frame
uint64[3] gyro_integral_dt # delta time for gyro integral in us
# gyro timstamp is equal to the timestamp of the message
float32[3] gyro_integral_rad # delta angle in the NED body frame in rad in the integration time frame
uint64 gyro_integral_dt # delta time for gyro integral in us
float32[9] accelerometer_integral_m_s # velocity in NED body frame, in m/s^2
uint64[3] accelerometer_integral_dt # delta time for accel integral in us
uint64[3] accelerometer_timestamp # Accelerometer timestamp
uint64 accelerometer_timestamp # Accelerometer timestamp
float32[3] accelerometer_integral_m_s # velocity in NED body frame, in m/s^2
uint64 accelerometer_integral_dt # delta time for accel integral in us
float32[9] magnetometer_ga # Magnetic field in NED body frame, in Gauss
uint64[3] magnetometer_timestamp # Magnetometer timestamp
uint64 magnetometer_timestamp # Magnetometer timestamp
float32[3] magnetometer_ga # Magnetic field in NED body frame, in Gauss
float32[3] baro_alt_meter # Altitude, already temp. comp.
float32[3] baro_temp_celcius # Temperature in degrees celsius
uint64[3] baro_timestamp # Barometer timestamp
uint64 baro_timestamp # Barometer timestamp
float32 baro_alt_meter # Altitude, already temp. comp.
float32 baro_temp_celcius # Temperature in degrees celsius