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Cleanup variable names and such

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This commit is contained in:
Simon Wilks
2013-04-19 18:28:06 +02:00
parent df6976c8d6
commit 696e48fbf3
6 changed files with 47 additions and 47 deletions
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apps/sensors/sensors.cpp
+20 -20
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@@ -158,7 +158,7 @@ private:
int _rc_sub; /**< raw rc channels data subscription */
int _baro_sub; /**< raw baro data subscription */
int _airspeed_sub; /**< airspeed subscription */
int _differential_pressure_sub; /**< raw differential pressure subscription */
int _diff_pres_sub; /**< raw differential pressure subscription */
int _vstatus_sub; /**< vehicle status subscription */
int _params_sub; /**< notification of parameter updates */
int _manual_control_sub; /**< notification of manual control updates */
@@ -168,14 +168,14 @@ private:
orb_advert_t _rc_pub; /**< raw r/c control topic */
orb_advert_t _battery_pub; /**< battery status */
orb_advert_t _airspeed_pub; /**< airspeed */
orb_advert_t _differential_pressure_pub; /**< differential_pressure */
orb_advert_t _diff_pres_pub; /**< differential_pressure */
perf_counter_t _loop_perf; /**< loop performance counter */
struct rc_channels_s _rc; /**< r/c channel data */
struct battery_status_s _battery_status; /**< battery status */
struct baro_report _barometer; /**< barometer data */
struct differential_pressure_s _differential_pressure;
struct differential_pressure_s _diff_pres;
struct airspeed_s _airspeed;
struct {
@@ -341,7 +341,7 @@ private:
* @param raw Combined sensor data structure into which
* data should be returned.
*/
void differential_pressure_poll(struct sensor_combined_s &raw);
void diff_pres_poll(struct sensor_combined_s &raw);
/**
* Check for changes in vehicle status.
@@ -411,7 +411,7 @@ Sensors::Sensors() :
_rc_pub(-1),
_battery_pub(-1),
_airspeed_pub(-1),
_differential_pressure_pub(-1),
_diff_pres_pub(-1),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "sensor task update"))
@@ -496,8 +496,8 @@ Sensors::Sensors() :
_parameter_handles.mag_scale[1] = param_find("SENS_MAG_YSCALE");
_parameter_handles.mag_scale[2] = param_find("SENS_MAG_ZSCALE");
/*Airspeed offset */
_parameter_handles.airspeed_offset = param_find("SENS_VAIR_OFF");
/* Differential pressure offset */
_parameter_handles.airspeed_offset = param_find("SENS_DPRES_OFF");
_parameter_handles.battery_voltage_scaling = param_find("BAT_V_SCALING");
@@ -902,22 +902,22 @@ Sensors::baro_poll(struct sensor_combined_s &raw)
}
void
Sensors::differential_pressure_poll(struct sensor_combined_s &raw)
Sensors::diff_pres_poll(struct sensor_combined_s &raw)
{
bool updated;
orb_check(_differential_pressure_sub, &updated);
orb_check(_diff_pres_sub, &updated);
if (updated) {
orb_copy(ORB_ID(differential_pressure), _differential_pressure_sub, &_differential_pressure);
orb_copy(ORB_ID(differential_pressure), _diff_pres_sub, &_diff_pres);
float airspeed_true = calc_true_airspeed(_differential_pressure.differential_pressure_pa + raw.baro_pres_mbar*1e2f,
float airspeed_true = calc_true_airspeed(_diff_pres.differential_pressure_pa + raw.baro_pres_mbar*1e2f,
raw.baro_pres_mbar*1e2f, raw.baro_temp_celcius - 5.0f); //factor 1e2 for conversion from mBar to Pa
// XXX HACK - true temperature is much less than indicated temperature in baro,
// subtract 5 degrees in an attempt to account for the electrical upheating of the PCB
float airspeed_indicated = calc_indicated_airspeed(_differential_pressure.differential_pressure_pa);
float airspeed_indicated = calc_indicated_airspeed(_diff_pres.differential_pressure_pa);
raw.differential_pressure_pa = _differential_pressure.differential_pressure_pa;
raw.differential_pressure_pa = _diff_pres.differential_pressure_pa;
raw.differential_pressure_counter++;
}
}
@@ -1082,16 +1082,16 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
float diff_pres_pa = voltage * 1000.0f - _parameters.airspeed_offset; //for MPXV7002DP sensor
_differential_pressure.timestamp = hrt_absolute_time();
_differential_pressure.differential_pressure_pa = diff_pres_pa;
_differential_pressure.voltage = voltage;
_diff_pres.timestamp = hrt_absolute_time();
_diff_pres.differential_pressure_pa = diff_pres_pa;
_diff_pres.voltage = voltage;
/* announce the airspeed if needed, just publish else */
if (_differential_pressure_pub > 0) {
orb_publish(ORB_ID(differential_pressure), _differential_pressure_pub, &_differential_pressure);
if (_diff_pres_pub > 0) {
orb_publish(ORB_ID(differential_pressure), _diff_pres_pub, &_diff_pres);
} else {
_differential_pressure_pub = orb_advertise(ORB_ID(differential_pressure), &_differential_pressure);
_diff_pres_pub = orb_advertise(ORB_ID(differential_pressure), &_diff_pres);
}
}
}
@@ -1356,7 +1356,7 @@ Sensors::task_main()
gyro_poll(raw);
mag_poll(raw);
baro_poll(raw);
differential_pressure_poll(raw);
diff_pres_poll(raw);
parameter_update_poll(true /* forced */);