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sensors don't store airspeed in class

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Daniel Agar 2017-12-11 14:14:44 -05:00 committed by Lorenz Meier
parent 6623fd0212
commit 4445ffc70e
1 changed files with 17 additions and 17 deletions
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34
src/modules/sensors/sensors.cpp
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@ -183,7 +183,6 @@ private:
DataValidator _airspeed_validator; /**< data validator to monitor airspeed */
differential_pressure_s _diff_pres{};
airspeed_s _airspeed{};
Battery _battery[BOARD_NUMBER_BRICKS]; /**< Helper lib to publish battery_status topic. */
@ -313,15 +312,16 @@ Sensors::diff_pres_poll(struct sensor_combined_s &raw)
float air_temperature_celsius = (_diff_pres.temperature > -300.0f) ? _diff_pres.temperature :
(raw.baro_temp_celcius - PCB_TEMP_ESTIMATE_DEG);
_airspeed.timestamp = _diff_pres.timestamp;
airspeed_s airspeed;
airspeed.timestamp = _diff_pres.timestamp;
/* push data into validator */
float airspeed_input[3] = { _diff_pres.differential_pressure_raw_pa, _diff_pres.temperature, 0.0f };
_airspeed_validator.put(_airspeed.timestamp, airspeed_input, _diff_pres.error_count,
_airspeed_validator.put(airspeed.timestamp, airspeed_input, _diff_pres.error_count,
ORB_PRIO_HIGH);
_airspeed.confidence = _airspeed_validator.confidence(hrt_absolute_time());
airspeed.confidence = _airspeed_validator.confidence(hrt_absolute_time());
enum AIRSPEED_SENSOR_MODEL smodel;
@ -343,24 +343,24 @@ Sensors::diff_pres_poll(struct sensor_combined_s &raw)
}
/* don't risk to feed negative airspeed into the system */
_airspeed.indicated_airspeed_m_s = math::max(0.0f,
calc_indicated_airspeed_corrected((enum AIRSPEED_COMPENSATION_MODEL)_parameters.air_cmodel,
smodel, _parameters.air_tube_length, _parameters.air_tube_diameter_mm,
_diff_pres.differential_pressure_filtered_pa, _voted_sensors_update.baro_pressure(),
air_temperature_celsius));
airspeed.indicated_airspeed_m_s = math::max(0.0f,
calc_indicated_airspeed_corrected((enum AIRSPEED_COMPENSATION_MODEL)_parameters.air_cmodel,
smodel, _parameters.air_tube_length, _parameters.air_tube_diameter_mm,
_diff_pres.differential_pressure_filtered_pa, _voted_sensors_update.baro_pressure(),
air_temperature_celsius));
_airspeed.true_airspeed_m_s = math::max(0.0f,
calc_true_airspeed_from_indicated(_airspeed.indicated_airspeed_m_s,
airspeed.true_airspeed_m_s = math::max(0.0f,
calc_true_airspeed_from_indicated(airspeed.indicated_airspeed_m_s,
_voted_sensors_update.baro_pressure(), air_temperature_celsius));
airspeed.true_airspeed_unfiltered_m_s = math::max(0.0f,
calc_true_airspeed(_diff_pres.differential_pressure_raw_pa + _voted_sensors_update.baro_pressure(),
_voted_sensors_update.baro_pressure(), air_temperature_celsius));
_airspeed.true_airspeed_unfiltered_m_s = math::max(0.0f,
calc_true_airspeed(_diff_pres.differential_pressure_raw_pa + _voted_sensors_update.baro_pressure(),
_voted_sensors_update.baro_pressure(), air_temperature_celsius));
_airspeed.air_temperature_celsius = air_temperature_celsius;
airspeed.air_temperature_celsius = air_temperature_celsius;
int instance;
orb_publish_auto(ORB_ID(airspeed), &_airspeed_pub, &_airspeed, &instance, ORB_PRIO_DEFAULT);
orb_publish_auto(ORB_ID(airspeed), &_airspeed_pub, &airspeed, &instance, ORB_PRIO_DEFAULT);
}
}