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Debugging, cleanup and added airspeed to HoTT telemetry.

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This commit is contained in:
Simon Wilks
2013-04-21 01:29:07 +02:00
parent 853ba612b1
commit 48f815860b
5 changed files with 62 additions and 20 deletions
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apps/drivers/ets_airspeed/ets_airspeed.cpp
+23 -8
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@@ -81,7 +81,11 @@
#define READ_CMD 0x07 /* Read the data */
/* Max measurement rate is 100Hz */
#define CONVERSION_INTERVAL (1000000 / 10) /* microseconds */
#define CONVERSION_INTERVAL (1000000 / 100) /* microseconds */
/* The Eagle Tree Airspeed V3 can only provide accurate readings
for speeds from 15km/h upwards. */
#define MIN_ACCURATE_DIFF_PRES_PA 12
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
@@ -222,6 +226,8 @@ ETS_AIRSPEED::init()
/* allocate basic report buffers */
_num_reports = 2;
_reports = new struct differential_pressure_s[_num_reports];
for (int i = 0; i < _num_reports; i++)
_reports[i].max_differential_pressure_pa = 0;
if (_reports == nullptr)
goto out;
@@ -235,8 +241,6 @@ ETS_AIRSPEED::init()
if (_airspeed_pub < 0)
debug("failed to create airspeed sensor object. Did you start uOrb?");
param_get(param_find("SENS_DPRES_OFF"), &_diff_pres_offset);
ret = OK;
/* sensor is ok, but we don't really know if it is within range */
_sensor_ok = true;
@@ -454,13 +458,24 @@ ETS_AIRSPEED::collect()
uint16_t diff_pres_pa = val[1] << 8 | val[0];
/* adjust if necessary */
diff_pres_pa -= _diff_pres_offset;
//log("measurement: %0.2f m/s", calc_indicated_airspeed((float)_reports[_next_report].diff_pressure));
param_get(param_find("SENS_DPRES_OFF"), &_diff_pres_offset);
if (diff_pres_pa < _diff_pres_offset + MIN_ACCURATE_DIFF_PRES_PA) {
diff_pres_pa = 0;
} else {
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;
}
/* announce the airspeed if needed, just publish else */
orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &_reports[_next_report]);
@@ -684,7 +699,7 @@ test()
err(1, "immediate read failed");
warnx("single read");
warnx("diff pressure: %0.3f pa", (double) report.differential_pressure_pa);
warnx("diff pressure: %d pa", report.differential_pressure_pa);
/* start the sensor polling at 2Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2))
@@ -709,7 +724,7 @@ test()
err(1, "periodic read failed");
warnx("periodic read %u", i);
warnx("diff pressure: %0.3f pa", (double) report.differential_pressure_pa);
warnx("diff pressure: %d pa", report.differential_pressure_pa);
}
errx(0, "PASS");