sensors.c File Reference

Acquire sensor data from sensors registered with PIOS_Sensors. More...

#include "openpilot.h"
#include "pios.h"
#include "physical_constants.h"
#include "pios_thread.h"
#include "pios_queue.h"
#include "misc_math.h"
#include "lpfilter.h"
#include "sensors.h"
#include "accels.h"
#include "attitudeactual.h"
#include "attitudesettings.h"
#include "baroaltitude.h"
#include "gyros.h"
#include "gyrosbias.h"
#include "homelocation.h"
#include "opticalflowsettings.h"
#include "opticalflow.h"
#include "sensorsettings.h"
#include "rangefinder.h"
#include "inssettings.h"
#include "magnetometer.h"
#include "magbias.h"
#include "coordinate_conversions.h"

Go to the source code of this file.

Macros
#define	MAX_SENSOR_PERIOD   6
#define	REQUIRED_GOOD_CYCLES   50
#define	MAX_TIME_BETWEEN_VALID_BARO_DATAS_US   (100*1000)
#define	MAX_TIME_BETWEEN_VALID_MAG_DATAS_US   (300*1000)

Enumerations
enum	mag_calibration_algo { MAG_CALIBRATION_PRELEMARI, MAG_CALIBRATION_NORMALIZE_LENGTH }

Functions
static void	update_accels (struct pios_sensor_accel_data *accels)
	Apply calibration and rotation to the raw accel data. More...
static void	update_gyros (struct pios_sensor_gyro_data *gyros)
	Apply calibration and rotation to the raw gyro data. More...
static void	update_mags (struct pios_sensor_mag_data *mag)
	Apply calibration and rotation to the raw mag data. More...
static void	update_baro (struct pios_sensor_baro_data *baro)
static void	mag_calibration_prelemari (MagnetometerData *mag)
static void	mag_calibration_fix_length (MagnetometerData *mag)
static void	updateTemperatureComp (float temperature, float *temp_bias)
static void	sensors_settings_update ()
int32_t	sensors_init (void)
bool	sensors_step ()

Variables
static INSSettingsData	insSettings
static AccelsData	accelsData
static volatile bool	settings_updated = true
static bool	bias_correct_gyro = true
static float	mag_bias [3] = {0,0,0}
static float	mag_scale [3] = {0,0,0}
static float	accel_bias [3] = {0,0,0}
static float	accel_scale [3] = {0,0,0}
static float	gyro_scale [3] = {0,0,0}
static float	gyro_coeff_x [4] = {0,0,0,0}
static float	gyro_coeff_y [4] = {0,0,0,0}
static float	gyro_coeff_z [4] = {0,0,0,0}
static float	gyro_temp_bias [3] = {0,0,0}
static float	z_accel_offset = 0
static float	Rsb [3][3] = {{0}}
static int8_t	rotate = 0
	Rotation matrix that transforms from the body frame to the sensor board frame. More...
static enum mag_calibration_algo	mag_calibration_algo = MAG_CALIBRATION_PRELEMARI
	Select the algorithm to try and null out the magnetometer bias error. More...
static lpfilter_state_t	gyro_filter
static lpfilter_state_t	accel_filter

Detailed Description

Acquire sensor data from sensors registered with PIOS_Sensors.

Update available sensors registered with PIOS_Sensors.

Author

The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.

Tau Labs, http://taulabs.org, Copyright (C) 2013-2016

dRonin, http://dronin.org Copyright (C) 2015-2017

See Also

The GNU Public License (GPL) Version 3

Author

dRonin, http://dRonin.org/, Copyright (C) 2015-2016

Tau Labs, http://taulabs.org, Copyright (C) 2013-2016

The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.

See Also

The GNU Public License (GPL) Version 3

Definition in file sensors.c.