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apply differential pressure calibration (SENS_DPRES_OFF) centrally

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- remove drv_airspeed.h and ioctls
This commit is contained in:
Daniel Agar
2022-04-26 08:39:19 -04:00
parent c6ab4c466e
commit 258f558fea
12 changed files with 29 additions and 226 deletions
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src/drivers/differential_pressure/ets/ets_airspeed.cpp
-3
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@@ -150,9 +150,6 @@ ETSAirspeed::collect()
diff_pres_pa_raw = 0.001f * (report.timestamp & 0x01);
}
// The raw value still should be compensated for the known offset
diff_pres_pa_raw -= _diff_pres_offset;
report.error_count = perf_event_count(_comms_errors);
// XXX we may want to smooth out the readings to remove noise.
src/drivers/differential_pressure/ms4525/ms4525_airspeed.cpp
+2 -2
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@@ -212,8 +212,8 @@ MEASAirspeed::collect()
report.error_count = perf_event_count(_comms_errors);
report.temperature = temperature;
report.differential_pressure_filtered_pa = _filter.apply(diff_press_pa_raw) - _diff_pres_offset;
report.differential_pressure_raw_pa = diff_press_pa_raw - _diff_pres_offset;
report.differential_pressure_filtered_pa = _filter.apply(diff_press_pa_raw);
report.differential_pressure_raw_pa = diff_press_pa_raw;
report.device_id = _device_id.devid;
report.timestamp = hrt_absolute_time();
src/drivers/differential_pressure/ms5525/MS5525.cpp
+2 -2
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@@ -265,8 +265,8 @@ MS5525::collect()
differential_pressure_s diff_pressure{};
diff_pressure.error_count = perf_event_count(_comms_errors);
diff_pressure.differential_pressure_raw_pa = diff_press_pa_raw - _diff_pres_offset;
diff_pressure.differential_pressure_filtered_pa = _filter.apply(diff_press_pa_raw) - _diff_pres_offset;
diff_pressure.differential_pressure_raw_pa = diff_press_pa_raw;
diff_pressure.differential_pressure_filtered_pa = _filter.apply(diff_press_pa_raw);
diff_pressure.temperature = temperature_c;
diff_pressure.device_id = _device_id.devid;
diff_pressure.timestamp = hrt_absolute_time();
src/drivers/differential_pressure/sdp3x/SDP3X.cpp
+2 -2
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@@ -172,8 +172,8 @@ SDP3X::collect()
report.error_count = perf_event_count(_comms_errors);
report.temperature = temperature_c;
report.differential_pressure_filtered_pa = _filter.apply(diff_press_pa_raw) - _diff_pres_offset;
report.differential_pressure_raw_pa = diff_press_pa_raw - _diff_pres_offset;
report.differential_pressure_filtered_pa = _filter.apply(diff_press_pa_raw);
report.differential_pressure_raw_pa = diff_press_pa_raw;
report.device_id = _device_id.devid;
report.timestamp = hrt_absolute_time();
src/drivers/drv_airspeed.h
-72
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@@ -1,72 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file drv_airspeed.h
*
* Airspeed driver interface.
*
* @author Simon Wilks
*/
#ifndef _DRV_AIRSPEED_H
#define _DRV_AIRSPEED_H
#include <stdint.h>
#include <sys/ioctl.h>
#include "drv_sensor.h"
#include "drv_orb_dev.h"
#define AIRSPEED_BASE_DEVICE_PATH "/dev/airspeed"
#define AIRSPEED0_DEVICE_PATH "/dev/airspeed0"
/*
* ioctl() definitions
*
* Airspeed drivers also implement the generic sensor driver
* interfaces from drv_sensor.h
*/
#define _AIRSPEEDIOCBASE (0x7700)
#define __AIRSPEEDIOC(_n) (_PX4_IOC(_AIRSPEEDIOCBASE, _n))
#define AIRSPEEDIOCSSCALE __AIRSPEEDIOC(0)
/** airspeed scaling factors; out = (in * Vscale) + offset */
struct airspeed_scale {
float offset_pa;
float scale;
};
#endif /* _DRV_AIRSPEED_H */
src/drivers/uavcan/sensors/airspeed.hpp
-1
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@@ -38,7 +38,6 @@
#pragma once
#include "sensor_bridge.hpp"
#include <drivers/drv_airspeed.h>
#include <uORB/topics/airspeed.h>
#include <uavcan/equipment/air_data/IndicatedAirspeed.hpp>
src/drivers/uavcan/sensors/differential_pressure.cpp
+2 -6
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@@ -37,7 +37,6 @@
#include "differential_pressure.hpp"
#include <drivers/drv_airspeed.h>
#include <drivers/drv_hrt.h>
#include <lib/geo/geo.h>
#include <parameters/param.h>
@@ -53,9 +52,6 @@ UavcanDifferentialPressureBridge::UavcanDifferentialPressureBridge(uavcan::INode
int UavcanDifferentialPressureBridge::init()
{
// Initialize the calibration offset
param_get(param_find("SENS_DPRES_OFF"), &_diff_pres_offset);
int res = _sub_air.start(AirCbBinder(this, &UavcanDifferentialPressureBridge::air_sub_cb));
if (res < 0) {
@@ -78,8 +74,8 @@ void UavcanDifferentialPressureBridge::air_sub_cb(const
if (PX4_ISFINITE(diff_press_pa)) {
differential_pressure_s report{};
report.differential_pressure_raw_pa = diff_press_pa - _diff_pres_offset;
report.differential_pressure_filtered_pa = _filter.apply(diff_press_pa) - _diff_pres_offset;
report.differential_pressure_raw_pa = diff_press_pa;
report.differential_pressure_filtered_pa = _filter.apply(diff_press_pa);
report.temperature = temperature_c;
report.device_id = _device_id.devid;
report.timestamp = hrt_absolute_time();
src/drivers/uavcan/sensors/differential_pressure.hpp
+1 -4
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@@ -37,9 +37,8 @@
#pragma once
#include <uORB/uORB.h>
#include <uORB/topics/differential_pressure.h>
#include <mathlib/math/filter/LowPassFilter2p.hpp>
#include <uORB/topics/differential_pressure.h>
#include "sensor_bridge.hpp"
@@ -57,8 +56,6 @@ public:
int init() override;
private:
float _diff_pres_offset{0.f};
math::LowPassFilter2p<float> _filter{10.f, 1.1f}; /// Adapted from MS5525 driver
void air_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::air_data::RawAirData> &msg);