class VotedSensorsUpdate More...

#include <voted_sensors_update.h>

Public Member Functions
	VotedSensorsUpdate (const Parameters &parameters, bool hil_enabled)

int	init (sensor_combined_s &raw)
	initialize subscriptions etc. More...

void	initialize_sensors ()
	This tries to find new sensor instances. More...

void	deinit ()
	deinitialize the object (we cannot use the destructor because it is called on the wrong thread)

void	print_status ()

void	parameters_update ()
	call this whenever parameters got updated. More...

void	sensors_poll (sensor_combined_s &raw, vehicle_air_data_s &airdata, vehicle_magnetometer_s &magnetometer)
	read new sensor data

void	set_relative_timestamps (sensor_combined_s &raw)
	set the relative timestamps of each sensor timestamp, based on the last sensors_poll, so that the data can be published.

void	check_failover ()
	check if a failover event occured. More...

int	num_gyros () const

int	gyro_fd (int idx) const

int	best_gyro_fd () const

void	calc_accel_inconsistency (sensor_preflight_s &preflt)
	Calculates the magnitude in m/s/s of the largest difference between the primary and any other accel sensor.

void	calc_gyro_inconsistency (sensor_preflight_s &preflt)
	Calculates the magnitude in rad/s of the largest difference between the primary and any other gyro sensor.

void	calc_mag_inconsistency (sensor_preflight_s &preflt)
	Calculates the magnitude in Gauss of the largest difference between the primary and any other magnetometers.

Detailed Description

class VotedSensorsUpdate

Handling of sensor updates with voting

Constructor & Destructor Documentation

§ VotedSensorsUpdate()

VotedSensorsUpdate::VotedSensorsUpdate	(	const Parameters &	parameters,
		bool	hil_enabled
	)

Parameters

parameters parameter values. These do not have to be initialized when constructing this object. Only when calling init(), they have to be initialized.

Member Function Documentation

§ check_failover()

void VotedSensorsUpdate::check_failover ( )

check if a failover event occured.

if so, report it.

§ init()

int VotedSensorsUpdate::init ( sensor_combined_s & raw )

initialize subscriptions etc.

Returns: 0 on success, <0 otherwise

§ initialize_sensors()

void VotedSensorsUpdate::initialize_sensors ( )

This tries to find new sensor instances.

This is called from init(), then it can be called periodically.

§ parameters_update()

void VotedSensorsUpdate::parameters_update ( )

call this whenever parameters got updated.

Make sure to have initialize_sensors() called at least once before calling this.

The documentation for this class was generated from the following files:

src/modules/sensors/voted_sensors_update.h
src/modules/sensors/voted_sensors_update.cpp

Public Member Functions