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rotate accel/gyro FIFO before publish and fix angular velocity filter resets

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- rotates accel & gyro FIFO data before publication both to simplify downstream usage (including log review) and fix other issues
     - to best handle int16_t data rotations are now either performed with swaps if possible, otherwise promoted to float, rotated using the full rotation matrix, then rounded back to int16_t
 - fix sensors/vehicle_angular_velocity filter reset both with proper rotation and new calibration uncorrect helper
      - in FIFO case filtering is done before calibration is applied, but we need to handle a possible reset from a completely different sensor (vehicle body angular velocity -> sensor frame uncorrected data)
This commit is contained in:
Daniel Agar
2021-03-22 12:01:12 -04:00
committed by GitHub
parent d4dd019578
commit e57aaaaa5e
13 changed files with 419 additions and 359 deletions
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2
msg/sensor_accel_fifo.msg
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@@ -11,5 +11,3 @@ uint8 samples # number of valid samples
int16[32] x # acceleration in the FRD board frame X-axis in m/s^2
int16[32] y # acceleration in the FRD board frame Y-axis in m/s^2
int16[32] z # acceleration in the FRD board frame Z-axis in m/s^2
uint8 rotation # Direction the sensor faces (see Rotation enum)

2
msg/sensor_gyro_fifo.msg
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@@ -12,6 +12,4 @@ int16[32] x # angular velocity in the FRD board frame X-axis in ra
int16[32] y # angular velocity in the FRD board frame Y-axis in rad/s
int16[32] z # angular velocity in the FRD board frame Z-axis in rad/s
uint8 rotation # Direction the sensor faces (see Rotation enum)
uint8 ORB_QUEUE_LENGTH = 4