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airspeed: convert to using RingBuffer class

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Andrew Tridgell
2013-09-12 00:52:21 +02:00
committed by Lorenz Meier
parent 815ccee0e7
commit 36b7b7bc5f
4 changed files with 67 additions and 80 deletions
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src/drivers/ets_airspeed/ets_airspeed.cpp
+12 -16
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@@ -68,6 +68,7 @@
#include <drivers/drv_airspeed.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/ringbuffer.h>
#include <uORB/uORB.h>
#include <uORB/topics/differential_pressure.h>
@@ -173,27 +174,22 @@ ETSAirspeed::collect()
diff_pres_pa -= _diff_pres_offset;
}
// XXX we may want to smooth out the readings to remove noise.
_reports[_next_report].timestamp = hrt_absolute_time();
_reports[_next_report].differential_pressure_pa = diff_pres_pa;
// Track maximum differential pressure measured (so we can work out top speed).
if (diff_pres_pa > _reports[_next_report].max_differential_pressure_pa) {
_reports[_next_report].max_differential_pressure_pa = diff_pres_pa;
if (diff_pres_pa > _max_differential_pressure_pa) {
_max_differential_pressure_pa = diff_pres_pa;
}
// XXX we may want to smooth out the readings to remove noise.
differential_pressure_s report;
report.timestamp = hrt_absolute_time();
report.differential_pressure_pa = diff_pres_pa;
report.voltage = 0;
report.max_differential_pressure_pa = _max_differential_pressure_pa;
/* announce the airspeed if needed, just publish else */
orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &_reports[_next_report]);
orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report);
/* post a report to the ring - note, not locked */
INCREMENT(_next_report, _num_reports);
/* if we are running up against the oldest report, toss it */
if (_next_report == _oldest_report) {
perf_count(_buffer_overflows);
INCREMENT(_oldest_report, _num_reports);
}
new_report(report);
/* notify anyone waiting for data */
poll_notify(POLLIN);