fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-26 04:23:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

move pressure altitude from baros to sensors module

Browse Source
This commit is contained in:
Daniel Agar
2018-04-11 23:26:58 -04:00
parent bdf4f19867
commit 5dc23def2a
22 changed files with 55 additions and 794 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/sensors/sensors.cpp
+4 -29
View File
@@ -267,30 +267,6 @@ Sensors::parameters_update()
_rc_update.update_rc_functions();
_voted_sensors_update.parameters_update();
/* update barometer qnh setting */
DevHandle h_baro;
DevMgr::getHandle(BARO0_DEVICE_PATH, h_baro);
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP) && !defined(__PX4_POSIX_OCPOC)
// TODO: this needs fixing for QURT and Raspberry Pi
if (!h_baro.isValid()) {
if (!_hil_enabled) { // in HIL we don't have a baro
PX4_ERR("no barometer found on %s (%d)", BARO0_DEVICE_PATH, h_baro.getError());
ret = PX4_ERROR;
}
} else {
int baroret = h_baro.ioctl(BAROIOCSMSLPRESSURE, (unsigned long)(_parameters.baro_qnh * 100));
if (baroret) {
PX4_ERR("qnh for baro could not be set");
ret = PX4_ERROR;
}
}
#endif
return ret;
}
@@ -359,16 +335,15 @@ Sensors::diff_pres_poll(struct sensor_combined_s &raw)
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(),
diff_pres.differential_pressure_filtered_pa, raw.baro_pressure_pa,
air_temperature_celsius));
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));
calc_true_airspeed_from_indicated(airspeed.indicated_airspeed_m_s, raw.baro_pressure_pa, 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));
calc_true_airspeed(diff_pres.differential_pressure_raw_pa + raw.baro_pressure_pa, raw.baro_pressure_pa,
air_temperature_celsius));
airspeed.air_temperature_celsius = air_temperature_celsius;