Update sensors.py

ports/esp32/modules/sensors.py

@@ -2,44 +2,40 @@
 
 from utime import ticks_us, ticks_diff
 
-from avg_filter import *
 import mahony
 
 
 class Sensors():
     def __init__(self, mrps, imu):
+        self.mrps = mrps
         self.imu = imu
 
         self.offset_roll = 0
         self.offset_pitch = 0
         self.offset_yaw = 0
 
-        self.roll = 0  # None  # discrete
-        self.pitch = 0  # None  # discrete
-        self.temperature = 0  # None
+        self._roll = 0  # None  # discrete
+        self._pitch = 0  # None  # discrete
+        self._temperature = 0
+        self._yaw = 0  # None  # discrete
 
-        self.mrps = mrps
-        self.yaw = mrps.readAngleCom()  # required before mrps.angle
-        self.yaw = self.read_yaw()
+        mrps.readAngleCom()  # required before mrps.angle
+        self.read_yaw()
 
         self._t_us_IMU = ticks_us()  # us !!!
-
-        self.pitch_prev = 0
-        self.roll_prev = 0
-        self.temperature_prev = 0
-        self.yaw_prev = 0
 
+    @micropython.native
     def __repr__(self):
         return "Sensors(mrps={}, imu={})".format(self.mrps, self.imu)
 
+    @micropython.native
     def info(self):
-        return f"Sensors: roll={self.roll:-5.2}, pitch={self.pitch:-5.2}, yaw={self.yaw:-5.2}, temperature={self.temperature:3}"
+        return f"Sensors: roll={self._roll:5.1f}, pitch={self._pitch:5.1f}, yaw={self._yaw:5.1f}, temperature={self.temperature:5.1f}"
 
-    #@micropython.native
+    @micropython.native
     def handle(self):
         #print('Sensors().handle()')
-        _t = ticks_us()  # us !!!
-        t = self.imu.temperature
+        _t_us = ticks_us()  # us !!!
         a = self.imu.acceleration
         g = self.imu.gyro
         if not self.imu.error:
@@ -50,41 +46,39 @@ def handle(self):
                -a[1],
                 a[0],
                 a[2],
-                ticks_diff(_t, self._t_us_IMU)
+                ticks_diff(_t_us, self._t_us_IMU)
                 )
-            self._t_us_IMU = _t
+            self._t_us_IMU = _t_us
 
-            self.pitch = round(mahony.Mahony_pitch() - self.offset_pitch, 2)  # discrete
-            self.roll = round(mahony.Mahony_roll() - self.offset_roll, 2)  # discrete
-            self.temperature = round(t, 1)
-
-            self.pitch_prev = self.pitch
-            self.roll_prev = self.roll
-            self.temperature_prev = self.temperature
-        else:
-            self.pitch = self.pitch_prev
-            self.roll = self.roll_prev
-            self.temperature = self.temperature_prev
+            self._pitch = mahony.Mahony_pitch() - self.offset_pitch  # discrete
+            self._roll = mahony.Mahony_roll() - self.offset_roll  # discrete
 
-        yaw = self.read_yaw()  # discrete
-        if not self.mrps.error:
-            self.yaw = yaw
-            self.yaw_prev = yaw
-        else:
-            self.yaw = self.yaw_prev
+        self.read_yaw()
 
-    #@micropython.native
-    def read_yaw(self):  # instant
-        return round(self.mrps.readAngleComInfinity() - self.offset_yaw, 2)
 
-    #@micropython.native
+    @micropython.native
+    def read_yaw(self):  # instant
+        yaw = self.mrps.readAngleComInfinity()
+        if not self.mrps.error:
+            self._yaw = yaw - self.offset_yaw
+        return self._yaw
+
+    @micropython.native
     def get_pitch(self):  # discrete
-        return self.pitch
+        return round(self._pitch, 2)
 
-    #@micropython.native
+    @micropython.native
     def get_roll(self):  # discrete
-        return self.roll
+        return round(self._roll, 2)
 
-    #@micropython.native
+    @micropython.native
     def get_yaw(self):  # discrete
-        return self.yaw
+        return round(self._yaw, 2)
+
+    @micropython.native
+    @property
+    def temperature(self):
+        t = self.imu.temperature
+        if not self.imu.error:
+            self._temperature = round(t, 1)
+        return self._temperature