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px4flow: refactor f and f_integral into a class attribute

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This commit is contained in:
Beat Küng 2018-07-05 11:08:10 +02:00 committed by Lorenz Meier
parent 51ee9eaaf4
commit 3aa1721450
1 changed files with 18 additions and 18 deletions
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36
src/drivers/px4flow/px4flow.cpp
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@ -102,9 +102,6 @@
#include "i2c_frame.h"
struct i2c_frame f;
struct i2c_integral_frame f_integral;
class PX4FLOW: public device::I2C
{
public:
@ -149,6 +146,9 @@ private:
float _sensor_max_range;
float _sensor_max_flow_rate;
i2c_frame _frame;
i2c_integral_frame _frame_integral;
/**
* Test whether the device supported by the driver is present at a
* specific address.
@ -510,7 +510,7 @@ PX4FLOW::collect()
int ret = -EIO;
/* read from the sensor */
uint8_t val[I2C_FRAME_SIZE + I2C_INTEGRAL_FRAME_SIZE] = { 0 };
uint8_t val[I2C_FRAME_SIZE + I2C_INTEGRAL_FRAME_SIZE] = { };
perf_begin(_sample_perf);
@ -530,12 +530,12 @@ PX4FLOW::collect()
}
if (PX4FLOW_REG == 0) {
memcpy(&f, val, I2C_FRAME_SIZE);
memcpy(&f_integral, &(val[I2C_FRAME_SIZE]), I2C_INTEGRAL_FRAME_SIZE);
memcpy(&_frame, val, I2C_FRAME_SIZE);
memcpy(&_frame_integral, &(val[I2C_FRAME_SIZE]), I2C_INTEGRAL_FRAME_SIZE);
}
if (PX4FLOW_REG == 0x16) {
memcpy(&f_integral, val, I2C_INTEGRAL_FRAME_SIZE);
memcpy(&_frame_integral, val, I2C_INTEGRAL_FRAME_SIZE);
}
@ -543,27 +543,27 @@ PX4FLOW::collect()
report.timestamp = hrt_absolute_time();
report.pixel_flow_x_integral = static_cast<float>(f_integral.pixel_flow_x_integral) / 10000.0f;//convert to radians
report.pixel_flow_x_integral = static_cast<float>(_frame_integral.pixel_flow_x_integral) / 10000.0f;//convert to radians
report.pixel_flow_y_integral = static_cast<float>(f_integral.pixel_flow_y_integral) / 10000.0f;//convert to radians
report.pixel_flow_y_integral = static_cast<float>(_frame_integral.pixel_flow_y_integral) / 10000.0f;//convert to radians
report.frame_count_since_last_readout = f_integral.frame_count_since_last_readout;
report.frame_count_since_last_readout = _frame_integral.frame_count_since_last_readout;
report.ground_distance_m = static_cast<float>(f_integral.ground_distance) / 1000.0f;//convert to meters
report.ground_distance_m = static_cast<float>(_frame_integral.ground_distance) / 1000.0f;//convert to meters
report.quality = f_integral.qual; //0:bad ; 255 max quality
report.quality = _frame_integral.qual; //0:bad ; 255 max quality
report.gyro_x_rate_integral = static_cast<float>(f_integral.gyro_x_rate_integral) / 10000.0f; //convert to radians
report.gyro_x_rate_integral = static_cast<float>(_frame_integral.gyro_x_rate_integral) / 10000.0f; //convert to radians
report.gyro_y_rate_integral = static_cast<float>(f_integral.gyro_y_rate_integral) / 10000.0f; //convert to radians
report.gyro_y_rate_integral = static_cast<float>(_frame_integral.gyro_y_rate_integral) / 10000.0f; //convert to radians
report.gyro_z_rate_integral = static_cast<float>(f_integral.gyro_z_rate_integral) / 10000.0f; //convert to radians
report.gyro_z_rate_integral = static_cast<float>(_frame_integral.gyro_z_rate_integral) / 10000.0f; //convert to radians
report.integration_timespan = f_integral.integration_timespan; //microseconds
report.integration_timespan = _frame_integral.integration_timespan; //microseconds
report.time_since_last_sonar_update = f_integral.sonar_timestamp;//microseconds
report.time_since_last_sonar_update = _frame_integral.sonar_timestamp;//microseconds
report.gyro_temperature = f_integral.gyro_temperature;//Temperature * 100 in centi-degrees Celsius
report.gyro_temperature = _frame_integral.gyro_temperature;//Temperature * 100 in centi-degrees Celsius
report.sensor_id = 0;