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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/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);