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move IMU integration out of drivers to sensors hub to handle accel/gyro sync

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- IMU integration move from drivers (PX4Accelerometer/PX4Gyroscope) to sensors/vehicle_imu 
 - sensors: voted_sensors_update now consumes vehicle_imu
 - delete sensor_accel_integrated, sensor_gyro_integrated
 - merge sensor_accel_status/sensor_gyro_status into vehicle_imu_status
 - sensors status output minor improvements (ordering, whitespace, show selected sensor device id and instance)
This commit is contained in:
Daniel Agar
2020-05-30 11:07:54 -04:00
committed by GitHub
parent 86cd1d0802
commit e34bdb4be9
74 changed files with 785 additions and 1197 deletions
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22
src/modules/uORB/SubscriptionCallback.hpp
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@@ -127,14 +127,30 @@ public:
void call() override
{
// schedule immediately if no interval, otherwise check time elapsed
if ((_interval_us == 0) || (hrt_elapsed_time_atomic(&_last_update) >= _interval_us)) {
_work_item->ScheduleNow();
// schedule immediately if updated (queue depth or subscription interval)
if ((_required_updates == 0)
|| (_subscription.get_node()->published_message_count() >= (_subscription.get_last_generation() + _required_updates))) {
if (updated()) {
_work_item->ScheduleNow();
}
}
}
/**
* Optionally limit callback until more samples are available.
*
* @param required_updates Number of queued updates required before a callback can be called.
*/
void set_required_updates(uint8_t required_updates)
{
// TODO: constrain to queue depth?
_required_updates = required_updates;
}
private:
px4::WorkItem *_work_item;
uint8_t _required_updates{0};
};
} // namespace uORB