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Merge branch 'airspeed_filter_fixes' into paul_estimator_numeric

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Lorenz Meier 2014-03-23 16:58:17 +01:00
commit a0ceeee9ef
3 changed files with 10 additions and 3 deletions
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5
src/drivers/ets_airspeed/ets_airspeed.cpp
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@ -176,11 +176,14 @@ ETSAirspeed::collect()
_max_differential_pressure_pa = diff_pres_pa;
}
// XXX we may want to smooth out the readings to remove noise.
differential_pressure_s report;
report.timestamp = hrt_absolute_time();
report.error_count = perf_event_count(_comms_errors);
report.differential_pressure_pa = (float)diff_pres_pa;
// XXX we may want to smooth out the readings to remove noise.
report.differential_pressure_filtered_pa = (float)diff_pres_pa;
report.temperature = -1000.0f;
report.voltage = 0;
report.max_differential_pressure_pa = _max_differential_pressure_pa;

6
src/modules/sensors/sensors.cpp
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@ -1033,10 +1033,12 @@ Sensors::diff_pres_poll(struct sensor_combined_s &raw)
raw.differential_pressure_timestamp = _diff_pres.timestamp;
raw.differential_pressure_filtered_pa = _diff_pres.differential_pressure_filtered_pa;
float air_temperature_celcius = (_diff_pres.temperature > -300.0f) ? _diff_pres.temperature : (raw.baro_temp_celcius - PCB_TEMP_ESTIMATE_DEG);
_airspeed.timestamp = _diff_pres.timestamp;
_airspeed.indicated_airspeed_m_s = calc_indicated_airspeed(_diff_pres.differential_pressure_filtered_pa);
_airspeed.true_airspeed_m_s = calc_true_airspeed(_diff_pres.differential_pressure_filtered_pa + raw.baro_pres_mbar * 1e2f,
raw.baro_pres_mbar * 1e2f, raw.baro_temp_celcius - PCB_TEMP_ESTIMATE_DEG);
raw.baro_pres_mbar * 1e2f, air_temperature_celcius);
/* announce the airspeed if needed, just publish else */
if (_airspeed_pub > 0) {
@ -1244,6 +1246,8 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
_diff_pres.timestamp = t;
_diff_pres.differential_pressure_pa = diff_pres_pa;
_diff_pres.differential_pressure_filtered_pa = diff_pres_pa;
_diff_pres.temperature = -1000.0f;
_diff_pres.voltage = voltage;
/* announce the airspeed if needed, just publish else */

2
src/modules/uORB/topics/differential_pressure.h
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@ -58,7 +58,7 @@ struct differential_pressure_s {
float differential_pressure_filtered_pa; /**< Low pass filtered differential pressure reading */
float max_differential_pressure_pa; /**< Maximum differential pressure reading */
float voltage; /**< Voltage from analog airspeed sensors (voltage divider already compensated) */
float temperature; /**< Temperature provided by sensor */
float temperature; /**< Temperature provided by sensor, -1000.0f if unknown */
};