From 2a83a404914e9d4211f1d2b7be8ab8aade255a29 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sat, 3 Nov 2018 14:56:34 -0400
Subject: [PATCH] delete accel_report (alias for sensor_accel_s)
---
src/drivers/drv_accel.h | 1 -
src/drivers/imu/adis16448/adis16448.cpp | 14 +++++++-------
src/drivers/imu/adis16477/ADIS16477.cpp | 4 ++--
src/drivers/imu/adis16477/ADIS16477_main.cpp | 2 +-
src/drivers/imu/bma180/bma180.cpp | 12 ++++++------
src/drivers/imu/bmi055/BMI055_accel.cpp | 12 ++++++------
src/drivers/imu/bmi055/bmi055_main.cpp | 2 +-
src/drivers/imu/bmi160/bmi160.cpp | 12 ++++++------
src/drivers/imu/bmi160/bmi160_main.cpp | 2 +-
src/drivers/imu/fxos8701cq/fxos8701cq.cpp | 16 ++++++++--------
src/drivers/imu/lsm303d/lsm303d.cpp | 16 ++++++++--------
src/drivers/imu/mpu6000/mpu6000.cpp | 14 +++++++-------
src/drivers/imu/mpu9250/main.cpp | 2 +-
src/drivers/imu/mpu9250/mpu9250.cpp | 12 ++++++------
.../matlab_csv_serial/matlab_csv_serial.c | 4 ++--
.../commander/accelerometer_calibration.cpp | 6 +++---
src/modules/mavlink/mavlink_receiver.cpp | 4 ++--
src/modules/sensors/voted_sensors_update.cpp | 4 ++--
src/modules/simulator/accelsim/accelsim.cpp | 10 +++++-----
src/modules/simulator/gyrosim/gyrosim.cpp | 14 +++++++-------
src/modules/simulator/simulator_mavlink.cpp | 2 +-
.../df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp | 2 +-
.../qurt/fc_addon/mpu_spi/mpu9x50_main.cpp | 4 ++--
src/systemcmds/tests/test_sensors.c | 2 +-
24 files changed, 86 insertions(+), 87 deletions(-)
diff --git a/src/drivers/drv_accel.h b/src/drivers/drv_accel.h
index ef19427983..0e4b3786a5 100644
--- a/src/drivers/drv_accel.h
+++ b/src/drivers/drv_accel.h
@@ -52,7 +52,6 @@
#define ACCEL2_DEVICE_PATH "/dev/accel2"
#include <uORB/topics/sensor_accel.h>
-#define accel_report sensor_accel_s
/** accel scaling factors; Vout = Vscale * (Vin + Voffset) */
struct accel_calibration_s {
diff --git a/src/drivers/imu/adis16448/adis16448.cpp b/src/drivers/imu/adis16448/adis16448.cpp
index d2ba484f3e..b745468955 100644
--- a/src/drivers/imu/adis16448/adis16448.cpp
+++ b/src/drivers/imu/adis16448/adis16448.cpp
@@ -603,7 +603,7 @@ ADIS16448::init()
goto out;
}
- _accel_reports = new ringbuffer::RingBuffer(2, sizeof(accel_report));
+ _accel_reports = new ringbuffer::RingBuffer(2, sizeof(sensor_accel_s));
if (_accel_reports == nullptr) {
goto out;
@@ -665,7 +665,7 @@ ADIS16448::init()
measure();
/* advertise sensor topic, measure manually to initialize valid report */
- struct accel_report arp;
+ sensor_accel_s arp;
_accel_reports->get(&arp);
/* measurement will have generated a report, publish */
@@ -841,7 +841,7 @@ ADIS16448::_set_gyro_dyn_range(uint16_t desired_gyro_dyn_range)
ssize_t
ADIS16448::read(struct file *filp, char *buffer, size_t buflen)
{
- unsigned count = buflen / sizeof(accel_report);
+ unsigned count = buflen / sizeof(sensor_accel_s);
/* buffer must be large enough */
if (count < 1) {
@@ -862,7 +862,7 @@ ADIS16448::read(struct file *filp, char *buffer, size_t buflen)
perf_count(_accel_reads);
/* copy reports out of our buffer to the caller */
- accel_report *arp = reinterpret_cast<accel_report *>(buffer);
+ sensor_accel_s *arp = reinterpret_cast<sensor_accel_s *>(buffer);
int transferred = 0;
while (count--) {
@@ -875,7 +875,7 @@ ADIS16448::read(struct file *filp, char *buffer, size_t buflen)
}
/* return the number of bytes transferred */
- return (transferred * sizeof(accel_report));
+ return (transferred * sizeof(sensor_accel_s));
}
int
@@ -1353,7 +1353,7 @@ ADIS16448::measure()
/*
* Report buffers.
*/
- accel_report arb;
+ sensor_accel_s arb;
gyro_report grb;
mag_report mrb;
@@ -1750,7 +1750,7 @@ fail:
void
test()
{
- accel_report a_report;
+ sensor_accel_s a_report{};
gyro_report g_report;
mag_report m_report;
diff --git a/src/drivers/imu/adis16477/ADIS16477.cpp b/src/drivers/imu/adis16477/ADIS16477.cpp
index e9ea40d3b2..5ee08c638f 100644
--- a/src/drivers/imu/adis16477/ADIS16477.cpp
+++ b/src/drivers/imu/adis16477/ADIS16477.cpp
@@ -200,7 +200,7 @@ ADIS16477::init()
measure();
/* advertise sensor topic, measure manually to initialize valid report */
- accel_report arp = {};
+ sensor_accel_s arp = {};
/* measurement will have generated a report, publish */
_accel_topic = orb_advertise_multi(ORB_ID(sensor_accel), &arp, &_accel_orb_class_instance, ORB_PRIO_MAX);
@@ -593,7 +593,7 @@ ADIS16477::measure()
bool
ADIS16477::publish_accel(const ADISReport &report)
{
- accel_report arb = {};
+ sensor_accel_s arb = {};
arb.timestamp = hrt_absolute_time();
arb.device_id = _device_id.devid;
arb.error_count = perf_event_count(_bad_transfers);
diff --git a/src/drivers/imu/adis16477/ADIS16477_main.cpp b/src/drivers/imu/adis16477/ADIS16477_main.cpp
index fbcbcf159b..bb0b783bdc 100644
--- a/src/drivers/imu/adis16477/ADIS16477_main.cpp
+++ b/src/drivers/imu/adis16477/ADIS16477_main.cpp
@@ -113,7 +113,7 @@ fail:
void
test()
{
- accel_report a_report;
+ sensor_accel_s a_report{};
gyro_report g_report;
ssize_t sz;
diff --git a/src/drivers/imu/bma180/bma180.cpp b/src/drivers/imu/bma180/bma180.cpp
index 6c01df7b2d..5b67bcb308 100644
--- a/src/drivers/imu/bma180/bma180.cpp
+++ b/src/drivers/imu/bma180/bma180.cpp
@@ -278,7 +278,7 @@ BMA180::init()
}
/* allocate basic report buffers */
- _reports = new ringbuffer::RingBuffer(2, sizeof(accel_report));
+ _reports = new ringbuffer::RingBuffer(2, sizeof(sensor_accel_s));
if (_reports == nullptr) {
goto out;
@@ -325,7 +325,7 @@ BMA180::init()
measure();
if (_class_instance == CLASS_DEVICE_PRIMARY) {
- struct accel_report arp;
+ sensor_accel_s arp;
_reports->get(&arp);
/* measurement will have generated a report, publish */
@@ -352,8 +352,8 @@ BMA180::probe()
ssize_t
BMA180::read(struct file *filp, char *buffer, size_t buflen)
{
- unsigned count = buflen / sizeof(struct accel_report);
- struct accel_report *arp = reinterpret_cast<struct accel_report *>(buffer);
+ unsigned count = buflen / sizeof(sensor_accel_s);
+ sensor_accel_s *arp = reinterpret_cast<sensor_accel_s *>(buffer);
int ret = 0;
/* buffer must be large enough */
@@ -661,7 +661,7 @@ BMA180::measure()
// } raw_report;
// #pragma pack(pop)
- struct accel_report report;
+ sensor_accel_s report;
/* start the performance counter */
perf_begin(_sample_perf);
@@ -796,7 +796,7 @@ void
test()
{
int fd = -1;
- struct accel_report a_report;
+ sensor_accel_s a_report;
ssize_t sz;
/* get the driver */
diff --git a/src/drivers/imu/bmi055/BMI055_accel.cpp b/src/drivers/imu/bmi055/BMI055_accel.cpp
index 9fd44f464d..884e9fbd13 100644
--- a/src/drivers/imu/bmi055/BMI055_accel.cpp
+++ b/src/drivers/imu/bmi055/BMI055_accel.cpp
@@ -116,7 +116,7 @@ BMI055_accel::init()
}
/* allocate basic report buffers */
- _accel_reports = new ringbuffer::RingBuffer(2, sizeof(accel_report));
+ _accel_reports = new ringbuffer::RingBuffer(2, sizeof(sensor_accel_s));
if (_accel_reports == nullptr) {
goto out;
@@ -139,7 +139,7 @@ BMI055_accel::init()
measure();
/* advertise sensor topic, measure manually to initialize valid report */
- struct accel_report arp;
+ sensor_accel_s arp;
_accel_reports->get(&arp);
/* measurement will have generated a report, publish */
@@ -262,7 +262,7 @@ BMI055_accel::accel_set_sample_rate(float frequency)
ssize_t
BMI055_accel::read(struct file *filp, char *buffer, size_t buflen)
{
- unsigned count = buflen / sizeof(accel_report);
+ unsigned count = buflen / sizeof(sensor_accel_s);
/* buffer must be large enough */
if (count < 1) {
@@ -281,7 +281,7 @@ BMI055_accel::read(struct file *filp, char *buffer, size_t buflen)
}
/* copy reports out of our buffer to the caller */
- accel_report *arp = reinterpret_cast<accel_report *>(buffer);
+ sensor_accel_s *arp = reinterpret_cast<sensor_accel_s *>(buffer);
int transferred = 0;
while (count--) {
@@ -294,7 +294,7 @@ BMI055_accel::read(struct file *filp, char *buffer, size_t buflen)
}
/* return the number of bytes transferred */
- return (transferred * sizeof(accel_report));
+ return (transferred * sizeof(sensor_accel_s));
}
int
@@ -671,7 +671,7 @@ BMI055_accel::measure()
/*
* Report buffers.
*/
- accel_report arb;
+ sensor_accel_s arb;
arb.timestamp = hrt_absolute_time();
diff --git a/src/drivers/imu/bmi055/bmi055_main.cpp b/src/drivers/imu/bmi055/bmi055_main.cpp
index 919bc70552..0ea9b8d5fb 100644
--- a/src/drivers/imu/bmi055/bmi055_main.cpp
+++ b/src/drivers/imu/bmi055/bmi055_main.cpp
@@ -225,7 +225,7 @@ test(bool external_bus, enum sensor_type sensor)
{
const char *path_accel = external_bus ? BMI055_DEVICE_PATH_ACCEL_EXT : BMI055_DEVICE_PATH_ACCEL;
const char *path_gyro = external_bus ? BMI055_DEVICE_PATH_GYRO_EXT : BMI055_DEVICE_PATH_GYRO;
- accel_report a_report;
+ sensor_accel_s a_report{};
gyro_report g_report;
ssize_t sz;
diff --git a/src/drivers/imu/bmi160/bmi160.cpp b/src/drivers/imu/bmi160/bmi160.cpp
index 487ba2017a..9bb522b6c3 100644
--- a/src/drivers/imu/bmi160/bmi160.cpp
+++ b/src/drivers/imu/bmi160/bmi160.cpp
@@ -138,7 +138,7 @@ BMI160::init()
}
/* allocate basic report buffers */
- _accel_reports = new ringbuffer::RingBuffer(2, sizeof(accel_report));
+ _accel_reports = new ringbuffer::RingBuffer(2, sizeof(sensor_accel_s));
if (_accel_reports == nullptr) {
goto out;
@@ -184,7 +184,7 @@ BMI160::init()
measure();
/* advertise sensor topic, measure manually to initialize valid report */
- struct accel_report arp;
+ sensor_accel_s arp;
_accel_reports->get(&arp);
/* measurement will have generated a report, publish */
@@ -444,7 +444,7 @@ BMI160::_set_dlpf_filter(uint16_t bandwidth)
ssize_t
BMI160::read(struct file *filp, char *buffer, size_t buflen)
{
- unsigned count = buflen / sizeof(accel_report);
+ unsigned count = buflen / sizeof(sensor_accel_s);
/* buffer must be large enough */
if (count < 1) {
@@ -465,7 +465,7 @@ BMI160::read(struct file *filp, char *buffer, size_t buflen)
perf_count(_accel_reads);
/* copy reports out of our buffer to the caller */
- accel_report *arp = reinterpret_cast<accel_report *>(buffer);
+ sensor_accel_s *arp = reinterpret_cast<sensor_accel_s *>(buffer);
int transferred = 0;
while (count--) {
@@ -478,7 +478,7 @@ BMI160::read(struct file *filp, char *buffer, size_t buflen)
}
/* return the number of bytes transferred */
- return (transferred * sizeof(accel_report));
+ return (transferred * sizeof(sensor_accel_s));
}
int
@@ -1043,7 +1043,7 @@ BMI160::measure()
/*
* Report buffers.
*/
- accel_report arb;
+ sensor_accel_s arb{};
gyro_report grb;
/*
diff --git a/src/drivers/imu/bmi160/bmi160_main.cpp b/src/drivers/imu/bmi160/bmi160_main.cpp
index 04ba7fdd45..e973caa25b 100644
--- a/src/drivers/imu/bmi160/bmi160_main.cpp
+++ b/src/drivers/imu/bmi160/bmi160_main.cpp
@@ -121,7 +121,7 @@ test(bool external_bus)
{
const char *path_accel = external_bus ? BMI160_DEVICE_PATH_ACCEL_EXT : BMI160_DEVICE_PATH_ACCEL;
const char *path_gyro = external_bus ? BMI160_DEVICE_PATH_GYRO_EXT : BMI160_DEVICE_PATH_GYRO;
- accel_report a_report;
+ sensor_accel_s a_report{};
gyro_report g_report;
ssize_t sz;
diff --git a/src/drivers/imu/fxos8701cq/fxos8701cq.cpp b/src/drivers/imu/fxos8701cq/fxos8701cq.cpp
index 652d51b520..74fd0cce3b 100644
--- a/src/drivers/imu/fxos8701cq/fxos8701cq.cpp
+++ b/src/drivers/imu/fxos8701cq/fxos8701cq.cpp
@@ -582,7 +582,7 @@ FXOS8701CQ::init()
}
/* allocate basic report buffers */
- _accel_reports = new ringbuffer::RingBuffer(2, sizeof(accel_report));
+ _accel_reports = new ringbuffer::RingBuffer(2, sizeof(sensor_accel_s));
if (_accel_reports == nullptr) {
return ret;
@@ -643,7 +643,7 @@ FXOS8701CQ::init()
_accel_class_instance = register_class_devname(ACCEL_BASE_DEVICE_PATH);
/* advertise sensor topic, measure manually to initialize valid report */
- struct accel_report arp;
+ sensor_accel_s arp;
_accel_reports->get(&arp);
/* measurement will have generated a report, publish */
@@ -717,8 +717,8 @@ FXOS8701CQ::probe()
ssize_t
FXOS8701CQ::read(struct file *filp, char *buffer, size_t buflen)
{
- unsigned count = buflen / sizeof(struct accel_report);
- accel_report *arb = reinterpret_cast<accel_report *>(buffer);
+ unsigned count = buflen / sizeof(sensor_accel_s);
+ sensor_accel_s *arb = reinterpret_cast<sensor_accel_s *>(buffer);
int ret = 0;
/* buffer must be large enough */
@@ -1305,7 +1305,7 @@ FXOS8701CQ::measure()
} raw_accel_mag_report;
#pragma pack(pop)
- accel_report accel_report;
+ sensor_accel_s accel_report;
/* start the performance counter */
perf_begin(_accel_sample_perf);
@@ -1761,7 +1761,7 @@ test()
{
int rv = 1;
int fd_accel = -1;
- struct accel_report accel_report;
+ sensor_accel_s accel_report;
ssize_t sz;
#if !defined(BOARD_HAS_NOISY_FXOS8700_MAG)
int fd_mag = -1;
@@ -1778,9 +1778,9 @@ test()
}
/* do a simple demand read */
- sz = read(fd_accel, &accel_report, sizeof(accel_report));
+ sz = read(fd_accel, &accel_report, sizeof(sensor_accel_s));
- if (sz != sizeof(accel_report)) {
+ if (sz != sizeof(sensor_accel_s)) {
PX4_ERR("immediate read failed");
goto exit_with_accel;
}
diff --git a/src/drivers/imu/lsm303d/lsm303d.cpp b/src/drivers/imu/lsm303d/lsm303d.cpp
index c6462d21aa..2b891387b2 100644
--- a/src/drivers/imu/lsm303d/lsm303d.cpp
+++ b/src/drivers/imu/lsm303d/lsm303d.cpp
@@ -617,7 +617,7 @@ LSM303D::init()
}
/* allocate basic report buffers */
- _accel_reports = new ringbuffer::RingBuffer(2, sizeof(accel_report));
+ _accel_reports = new ringbuffer::RingBuffer(2, sizeof(sensor_accel_s));
if (_accel_reports == nullptr) {
goto out;
@@ -654,7 +654,7 @@ LSM303D::init()
_accel_class_instance = register_class_devname(ACCEL_BASE_DEVICE_PATH);
/* advertise sensor topic, measure manually to initialize valid report */
- struct accel_report arp;
+ sensor_accel_s arp;
_accel_reports->get(&arp);
/* measurement will have generated a report, publish */
@@ -731,8 +731,8 @@ LSM303D::probe()
ssize_t
LSM303D::read(struct file *filp, char *buffer, size_t buflen)
{
- unsigned count = buflen / sizeof(struct accel_report);
- accel_report *arb = reinterpret_cast<accel_report *>(buffer);
+ unsigned count = buflen / sizeof(sensor_accel_s);
+ sensor_accel_s *arb = reinterpret_cast<sensor_accel_s *>(buffer);
int ret = 0;
/* buffer must be large enough */
@@ -1370,7 +1370,7 @@ LSM303D::measure()
} raw_accel_report;
#pragma pack(pop)
- accel_report accel_report;
+ sensor_accel_s accel_report;
/* start the performance counter */
perf_begin(_accel_sample_perf);
@@ -1845,7 +1845,7 @@ void
test()
{
int fd_accel = -1;
- struct accel_report accel_report;
+ sensor_accel_s accel_report;
ssize_t sz;
int ret;
@@ -1857,9 +1857,9 @@ test()
}
/* do a simple demand read */
- sz = read(fd_accel, &accel_report, sizeof(accel_report));
+ sz = read(fd_accel, &accel_report, sizeof(sensor_accel_s));
- if (sz != sizeof(accel_report)) {
+ if (sz != sizeof(sensor_accel_s)) {
err(1, "immediate read failed");
}
diff --git a/src/drivers/imu/mpu6000/mpu6000.cpp b/src/drivers/imu/mpu6000/mpu6000.cpp
index 33965eec7a..d927cb73d6 100644
--- a/src/drivers/imu/mpu6000/mpu6000.cpp
+++ b/src/drivers/imu/mpu6000/mpu6000.cpp
@@ -634,7 +634,7 @@ MPU6000::init()
ret = -ENOMEM;
/* allocate basic report buffers */
- _accel_reports = new ringbuffer::RingBuffer(2, sizeof(accel_report));
+ _accel_reports = new ringbuffer::RingBuffer(2, sizeof(sensor_accel_s));
if (_accel_reports == nullptr) {
return ret;
@@ -706,7 +706,7 @@ MPU6000::init()
measure();
/* advertise sensor topic, measure manually to initialize valid report */
- struct accel_report arp;
+ sensor_accel_s arp;
_accel_reports->get(&arp);
/* measurement will have generated a report, publish */
@@ -1003,7 +1003,7 @@ MPU6000::_set_icm_acc_dlpf_filter(uint16_t frequency_hz)
ssize_t
MPU6000::read(struct file *filp, char *buffer, size_t buflen)
{
- unsigned count = buflen / sizeof(accel_report);
+ unsigned count = buflen / sizeof(sensor_accel_s);
/* buffer must be large enough */
if (count < 1) {
@@ -1022,7 +1022,7 @@ MPU6000::read(struct file *filp, char *buffer, size_t buflen)
}
/* copy reports out of our buffer to the caller */
- accel_report *arp = reinterpret_cast<accel_report *>(buffer);
+ sensor_accel_s *arp = reinterpret_cast<sensor_accel_s *>(buffer);
int transferred = 0;
while (count--) {
@@ -1035,7 +1035,7 @@ MPU6000::read(struct file *filp, char *buffer, size_t buflen)
}
/* return the number of bytes transferred */
- return (transferred * sizeof(accel_report));
+ return (transferred * sizeof(sensor_accel_s));
}
int
@@ -1818,7 +1818,7 @@ MPU6000::measure()
/*
* Report buffers.
*/
- accel_report arb;
+ sensor_accel_s arb;
gyro_report grb;
/*
@@ -2270,7 +2270,7 @@ void
test(enum MPU6000_BUS busid)
{
struct mpu6000_bus_option &bus = find_bus(busid);
- accel_report a_report;
+ sensor_accel_s a_report{};
gyro_report g_report;
ssize_t sz;
diff --git a/src/drivers/imu/mpu9250/main.cpp b/src/drivers/imu/mpu9250/main.cpp
index 1f1772905f..5471bfdd13 100644
--- a/src/drivers/imu/mpu9250/main.cpp
+++ b/src/drivers/imu/mpu9250/main.cpp
@@ -316,7 +316,7 @@ void
test(enum MPU9250_BUS busid)
{
struct mpu9250_bus_option &bus = find_bus(busid);
- accel_report a_report;
+ sensor_accel_s a_report{};
gyro_report g_report;
mag_report m_report;
ssize_t sz;
diff --git a/src/drivers/imu/mpu9250/mpu9250.cpp b/src/drivers/imu/mpu9250/mpu9250.cpp
index dfa9200e1e..87c02555ec 100644
--- a/src/drivers/imu/mpu9250/mpu9250.cpp
+++ b/src/drivers/imu/mpu9250/mpu9250.cpp
@@ -288,7 +288,7 @@ MPU9250::init()
}
/* allocate basic report buffers */
- _accel_reports = new ringbuffer::RingBuffer(2, sizeof(accel_report));
+ _accel_reports = new ringbuffer::RingBuffer(2, sizeof(sensor_accel_s));
ret = -ENOMEM;
if (_accel_reports == nullptr) {
@@ -390,7 +390,7 @@ MPU9250::init()
measure();
/* advertise sensor topic, measure manually to initialize valid report */
- struct accel_report arp;
+ sensor_accel_s arp;
_accel_reports->get(&arp);
/* measurement will have generated a report, publish */
@@ -621,7 +621,7 @@ MPU9250::_set_dlpf_filter(uint16_t frequency_hz)
ssize_t
MPU9250::read(struct file *filp, char *buffer, size_t buflen)
{
- unsigned count = buflen / sizeof(accel_report);
+ unsigned count = buflen / sizeof(sensor_accel_s);
/* buffer must be large enough */
if (count < 1) {
@@ -642,7 +642,7 @@ MPU9250::read(struct file *filp, char *buffer, size_t buflen)
perf_count(_accel_reads);
/* copy reports out of our buffer to the caller */
- accel_report *arp = reinterpret_cast<accel_report *>(buffer);
+ sensor_accel_s *arp = reinterpret_cast<sensor_accel_s *>(buffer);
int transferred = 0;
while (count--) {
@@ -655,7 +655,7 @@ MPU9250::read(struct file *filp, char *buffer, size_t buflen)
}
/* return the number of bytes transferred */
- return (transferred * sizeof(accel_report));
+ return (transferred * sizeof(sensor_accel_s));
}
int
@@ -1287,7 +1287,7 @@ MPU9250::measure()
/*
* Report buffers.
*/
- accel_report arb;
+ sensor_accel_s arb{};
gyro_report grb;
/*
diff --git a/src/examples/matlab_csv_serial/matlab_csv_serial.c b/src/examples/matlab_csv_serial/matlab_csv_serial.c
index 3bb0dcdaf3..f2f384e678 100644
--- a/src/examples/matlab_csv_serial/matlab_csv_serial.c
+++ b/src/examples/matlab_csv_serial/matlab_csv_serial.c
@@ -183,8 +183,8 @@ int matlab_csv_serial_thread_main(int argc, char *argv[])
}
/* subscribe to vehicle status, attitude, sensors and flow*/
- struct accel_report accel0;
- struct accel_report accel1;
+ struct sensor_accel_s accel0;
+ struct sensor_accel_s accel1;
struct gyro_report gyro0;
struct gyro_report gyro1;
diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp
index 3751f074f3..2a65279f77 100644
--- a/src/modules/commander/accelerometer_calibration.cpp
+++ b/src/modules/commander/accelerometer_calibration.cpp
@@ -479,7 +479,7 @@ calibrate_return do_accel_calibration_measurements(orb_advert_t *mavlink_log_pub
for(unsigned i = 0; i < orb_accel_count && !found_cur_accel; i++) {
worker_data.subs[cur_accel] = orb_subscribe_multi(ORB_ID(sensor_accel), i);
- struct accel_report report = {};
+ sensor_accel_s report = {};
orb_copy(ORB_ID(sensor_accel), worker_data.subs[cur_accel], &report);
#ifdef __PX4_NUTTX
@@ -538,7 +538,7 @@ calibrate_return do_accel_calibration_measurements(orb_advert_t *mavlink_log_pub
for (unsigned i = 0; i < max_accel_sens; i++) {
if (worker_data.subs[i] >= 0) {
/* figure out which sensors were active */
- struct accel_report arp = {};
+ sensor_accel_s arp = {};
(void)orb_copy(ORB_ID(sensor_accel), worker_data.subs[i], &arp);
if (arp.timestamp != 0 && timestamps[i] != arp.timestamp) {
(*active_sensors)++;
@@ -626,7 +626,7 @@ calibrate_return read_accelerometer_avg(int sensor_correction_sub, int (&subs)[m
if (changed) {
- struct accel_report arp;
+ sensor_accel_s arp;
orb_copy(ORB_ID(sensor_accel), subs[s], &arp);
// Apply thermal offset corrections in sensor/board frame
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 57d62a3fcd..d86b86ae68 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -2068,7 +2068,7 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
/* accelerometer */
{
- struct accel_report accel = {};
+ sensor_accel_s accel = {};
accel.timestamp = timestamp;
accel.x_raw = imu.xacc / (CONSTANTS_ONE_G / 1000.0f);
@@ -2469,7 +2469,7 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
/* accelerometer */
{
- struct accel_report accel = {};
+ sensor_accel_s accel = {};
accel.timestamp = timestamp;
accel.x_raw = hil_state.xacc / CONSTANTS_ONE_G * 1e3f;
diff --git a/src/modules/sensors/voted_sensors_update.cpp b/src/modules/sensors/voted_sensors_update.cpp
index 44e736180a..bb06a28f34 100644
--- a/src/modules/sensors/voted_sensors_update.cpp
+++ b/src/modules/sensors/voted_sensors_update.cpp
@@ -179,7 +179,7 @@ void VotedSensorsUpdate::parameters_update()
if (topic_instance < _accel.subscription_count) {
// valid subscription, so get the driver id by getting the published sensor data
- struct accel_report report;
+ sensor_accel_s report;
if (orb_copy(ORB_ID(sensor_accel), _accel.subscription[topic_instance], &report) == 0) {
int temp = _temperature_compensation.set_sensor_id_accel(report.device_id, topic_instance);
@@ -545,7 +545,7 @@ void VotedSensorsUpdate::accel_poll(struct sensor_combined_s &raw)
orb_check(_accel.subscription[uorb_index], &accel_updated);
if (accel_updated) {
- struct accel_report accel_report;
+ sensor_accel_s accel_report;
int ret = orb_copy(ORB_ID(sensor_accel), _accel.subscription[uorb_index], &accel_report);
diff --git a/src/modules/simulator/accelsim/accelsim.cpp b/src/modules/simulator/accelsim/accelsim.cpp
index a25c84cf43..9e6a76e978 100644
--- a/src/modules/simulator/accelsim/accelsim.cpp
+++ b/src/modules/simulator/accelsim/accelsim.cpp
@@ -321,7 +321,7 @@ ACCELSIM::init()
int ret = -1;
struct mag_report mrp = {};
- struct accel_report arp = {};
+ sensor_accel_s arp = {};
/* do SIM init first */
if (VirtDevObj::init() != 0) {
@@ -330,7 +330,7 @@ ACCELSIM::init()
}
/* allocate basic report buffers */
- _accel_reports = new ringbuffer::RingBuffer(2, sizeof(accel_report));
+ _accel_reports = new ringbuffer::RingBuffer(2, sizeof(sensor_accel_s));
if (_accel_reports == nullptr) {
goto out;
@@ -410,8 +410,8 @@ ACCELSIM::transfer(uint8_t *send, uint8_t *recv, unsigned len)
ssize_t
ACCELSIM::devRead(void *buffer, size_t buflen)
{
- unsigned count = buflen / sizeof(struct accel_report);
- accel_report *arb = reinterpret_cast<accel_report *>(buffer);
+ unsigned count = buflen / sizeof(sensor_accel_s);
+ sensor_accel_s *arb = reinterpret_cast<sensor_accel_s *>(buffer);
int ret = 0;
/* buffer must be large enough */
@@ -781,7 +781,7 @@ ACCELSIM::_measure()
} raw_accel_report;
#pragma pack(pop)
- accel_report accel_report = {};
+ sensor_accel_s accel_report = {};
/* start the performance counter */
perf_begin(_accel_sample_perf);
diff --git a/src/modules/simulator/gyrosim/gyrosim.cpp b/src/modules/simulator/gyrosim/gyrosim.cpp
index 0d6ca6df9b..4db24f4868 100644
--- a/src/modules/simulator/gyrosim/gyrosim.cpp
+++ b/src/modules/simulator/gyrosim/gyrosim.cpp
@@ -363,7 +363,7 @@ GYROSIM::init()
PX4_DEBUG("init");
int ret = 1;
- struct accel_report arp = {};
+ sensor_accel_s arp = {};
struct gyro_report grp = {};
@@ -376,7 +376,7 @@ GYROSIM::init()
}
/* allocate basic report buffers */
- _accel_reports = new ringbuffer::RingBuffer(2, sizeof(accel_report));
+ _accel_reports = new ringbuffer::RingBuffer(2, sizeof(sensor_accel_s));
if (_accel_reports == nullptr) {
PX4_WARN("_accel_reports creation failed");
@@ -536,7 +536,7 @@ GYROSIM::_set_sample_rate(unsigned desired_sample_rate_hz)
ssize_t
GYROSIM::devRead(void *buffer, size_t buflen)
{
- unsigned count = buflen / sizeof(accel_report);
+ unsigned count = buflen / sizeof(sensor_accel_s);
/* buffer must be large enough */
if (count < 1) {
@@ -557,7 +557,7 @@ GYROSIM::devRead(void *buffer, size_t buflen)
perf_count(_accel_reads);
/* copy reports out of our buffer to the caller */
- accel_report *arp = reinterpret_cast<accel_report *>(buffer);
+ sensor_accel_s *arp = reinterpret_cast<sensor_accel_s *>(buffer);
int transferred = 0;
while (count--) {
@@ -570,7 +570,7 @@ GYROSIM::devRead(void *buffer, size_t buflen)
}
/* return the number of bytes transferred */
- return (transferred * sizeof(accel_report));
+ return (transferred * sizeof(sensor_accel_s));
}
int
@@ -893,7 +893,7 @@ GYROSIM::_measure()
/*
* Report buffers.
*/
- accel_report arb = {};
+ sensor_accel_s arb = {};
gyro_report grb = {};
// for now use local time but this should be the timestamp of the simulator
@@ -1175,7 +1175,7 @@ test()
{
const char *path_accel = MPU_DEVICE_PATH_ACCEL;
const char *path_gyro = MPU_DEVICE_PATH_GYRO;
- accel_report a_report;
+ sensor_accel_s a_report;
gyro_report g_report;
ssize_t sz;
diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp
index d8efe0ea25..54f3881fb1 100644
--- a/src/modules/simulator/simulator_mavlink.cpp
+++ b/src/modules/simulator/simulator_mavlink.cpp
@@ -1025,7 +1025,7 @@ int Simulator::publish_sensor_topics(mavlink_hil_sensor_t *imu)
/* accelerometer */
{
- struct accel_report accel = {};
+ sensor_accel_s accel = {};
accel.timestamp = timestamp;
accel.x_raw = imu->xacc / (CONSTANTS_ONE_G / 1000.0f);
diff --git a/src/platforms/posix/drivers/df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp b/src/platforms/posix/drivers/df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp
index c11dba6995..cf0868f855 100644
--- a/src/platforms/posix/drivers/df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp
+++ b/src/platforms/posix/drivers/df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp
@@ -239,7 +239,7 @@ DfLsm9ds1Wrapper::~DfLsm9ds1Wrapper()
int DfLsm9ds1Wrapper::start()
{
// TODO: don't publish garbage here
- accel_report accel_report = {};
+ sensor_accel_s accel_report = {};
_accel_topic = orb_advertise_multi(ORB_ID(sensor_accel), &accel_report,
&_accel_orb_class_instance, ORB_PRIO_DEFAULT);
diff --git a/src/platforms/qurt/fc_addon/mpu_spi/mpu9x50_main.cpp b/src/platforms/qurt/fc_addon/mpu_spi/mpu9x50_main.cpp
index 804c0e1a30..84c9fbb15d 100644
--- a/src/platforms/qurt/fc_addon/mpu_spi/mpu9x50_main.cpp
+++ b/src/platforms/qurt/fc_addon/mpu_spi/mpu9x50_main.cpp
@@ -97,7 +97,7 @@ static orb_advert_t _mag_pub = nullptr; /**< compass data publication */
static int _mag_orb_class_instance; /**< instance handle for mag devices */
static int _params_sub; /**< parameter update subscription */
static struct gyro_report _gyro; /**< gyro report */
-static struct accel_report _accel; /**< accel report */
+static sensor_accel_s _accel; /**< accel report */
static struct mag_report _mag; /**< mag report */
static struct gyro_calibration_s _gyro_sc; /**< gyro scale */
static struct accel_calibration_s _accel_sc; /**< accel scale */
@@ -368,7 +368,7 @@ bool create_pubs()
{
// initialize the reports
memset(&_gyro, 0, sizeof(struct gyro_report));
- memset(&_accel, 0, sizeof(struct accel_report));
+ memset(&_accel, 0, sizeof(sensor_accel_s));
memset(&_mag, 0, sizeof(struct mag_report));
_gyro_pub = orb_advertise_multi(ORB_ID(sensor_gyro), &_gyro,
diff --git a/src/systemcmds/tests/test_sensors.c b/src/systemcmds/tests/test_sensors.c
index 37faa39318..70dc512482 100644
--- a/src/systemcmds/tests/test_sensors.c
+++ b/src/systemcmds/tests/test_sensors.c
@@ -90,7 +90,7 @@ accel(int argc, char *argv[], const char *path)
fflush(stdout);
int fd;
- struct accel_report buf;
+ struct sensor_accel_s buf;
int ret;
fd = px4_open(path, O_RDONLY);
--
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