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airspeed verify using filtered differential pressure

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This commit is contained in:
Daniel Agar 2017-06-16 11:20:50 -04:00
parent 72969f00d7
commit 936f92fd0b
1 changed files with 7 additions and 13 deletions
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20
src/modules/commander/airspeed_calibration.cpp
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@ -215,18 +215,13 @@ int do_airspeed_calibration(orb_advert_t *mavlink_log_pub)
calibration_counter++;
if (fabsf(diff_pres.differential_pressure_raw_pa) < 50.0f) {
if (fabsf(diff_pres.differential_pressure_filtered_pa) < 50.0f) {
if (calibration_counter % 500 == 0) {
calibration_log_info(mavlink_log_pub, "[cal] Create air pressure! (got %d, wanted: 50 Pa)",
(int)diff_pres.differential_pressure_raw_pa);
calibration_log_info(mavlink_log_pub, "[cal] Create air pressure! (got %d, wanted: 50 Pa)", (int)diff_pres.differential_pressure_filtered_pa);
}
continue;
}
/* do not allow negative values */
if (diff_pres.differential_pressure_raw_pa < 0.0f) {
calibration_log_info(mavlink_log_pub, "[cal] Negative pressure difference detected (%d Pa)",
(int)diff_pres.differential_pressure_raw_pa);
} else if (diff_pres.differential_pressure_filtered_pa < 0.0f) {
/* do not allow negative values */
calibration_log_info(mavlink_log_pub, "[cal] Negative pressure difference detected (%d Pa)", (int)diff_pres.differential_pressure_filtered_pa);
calibration_log_info(mavlink_log_pub, "[cal] Swap static and dynamic ports!");
/* the user setup is wrong, wipe the calibration to force a proper re-calibration */
@ -238,14 +233,13 @@ int do_airspeed_calibration(orb_advert_t *mavlink_log_pub)
/* save */
calibration_log_info(mavlink_log_pub, CAL_QGC_PROGRESS_MSG, 0);
(void)param_save_default();
param_save_default();
feedback_calibration_failed(mavlink_log_pub);
goto error_return;
} else {
calibration_log_info(mavlink_log_pub, "[cal] Positive pressure: OK (%d Pa)",
(int)diff_pres.differential_pressure_raw_pa);
calibration_log_info(mavlink_log_pub, "[cal] Positive pressure: OK (%d Pa)", (int)diff_pres.differential_pressure_filtered_pa);
break;
}