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UAVCAN Barometer driver fix - reporting temperature in Celsius degrees, not in Kelvin

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This commit is contained in:
Pavel Kirienko
2015-08-22 13:54:56 +02:00
committed by Lorenz Meier
parent 473d321af8
commit 3860dbdc8c
2 changed files with 4 additions and 6 deletions
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src/modules/uavcan/sensors/baro.cpp
+3 -5
View File
@@ -46,9 +46,7 @@ UavcanBarometerBridge::UavcanBarometerBridge(uavcan::INode &node) :
_sub_air_pressure_data(node), _sub_air_pressure_data(node),
_sub_air_temperature_data(node), _sub_air_temperature_data(node),
_reports(nullptr) _reports(nullptr)
{ { }
last_temperature = 0.0f;
}
int UavcanBarometerBridge::init() int UavcanBarometerBridge::init()
{ {
@@ -154,7 +152,7 @@ int UavcanBarometerBridge::ioctl(struct file *filp, int cmd, unsigned long arg)
void UavcanBarometerBridge::air_temperature_sub_cb(const void UavcanBarometerBridge::air_temperature_sub_cb(const
uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticTemperature> &msg) uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticTemperature> &msg)
{ {
last_temperature = msg.static_temperature; last_temperature_kelvin = msg.static_temperature;
} }
void UavcanBarometerBridge::air_pressure_sub_cb(const void UavcanBarometerBridge::air_pressure_sub_cb(const
@@ -163,7 +161,7 @@ void UavcanBarometerBridge::air_pressure_sub_cb(const
baro_report report; baro_report report;
report.timestamp = msg.getMonotonicTimestamp().toUSec(); report.timestamp = msg.getMonotonicTimestamp().toUSec();
report.temperature = last_temperature; report.temperature = last_temperature_kelvin - 273.15F;
report.pressure = msg.static_pressure / 100.0F; // Convert to millibar report.pressure = msg.static_pressure / 100.0F; // Convert to millibar
report.error_count = 0; report.error_count = 0;
src/modules/uavcan/sensors/baro.hpp
+1 -1
View File
@@ -77,6 +77,6 @@ private:
uavcan::Subscriber<uavcan::equipment::air_data::StaticTemperature, AirTemperatureCbBinder> _sub_air_temperature_data; uavcan::Subscriber<uavcan::equipment::air_data::StaticTemperature, AirTemperatureCbBinder> _sub_air_temperature_data;
unsigned _msl_pressure = 101325; unsigned _msl_pressure = 101325;
RingBuffer *_reports; RingBuffer *_reports;
float last_temperature; float last_temperature_kelvin = 0.0;
}; };