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Merge branch 'master' into mpc_local_pos

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This commit is contained in:
Anton Babushkin
2014-03-28 10:44:28 +04:00
parent 83da4ae02d 9b1de5004c
commit a991ebd8ca
11 changed files with 271 additions and 40 deletions
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src/drivers/meas_airspeed/meas_airspeed.cpp
+8 -1
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@@ -79,6 +79,8 @@
#include <systemlib/param/param.h>
#include <systemlib/perf_counter.h>
#include <mathlib/math/filter/LowPassFilter2p.hpp>
#include <drivers/drv_airspeed.h>
#include <drivers/drv_hrt.h>
@@ -99,6 +101,8 @@
#define ADDR_READ_MR 0x00 /* write to this address to start conversion */
/* Measurement rate is 100Hz */
#define MEAS_RATE 100.0f
#define MEAS_DRIVER_FILTER_FREQ 3.0f
#define CONVERSION_INTERVAL (1000000 / 100) /* microseconds */
class MEASAirspeed : public Airspeed
@@ -116,6 +120,7 @@ protected:
virtual int measure();
virtual int collect();
math::LowPassFilter2p _filter;
};
/*
@@ -124,7 +129,8 @@ protected:
extern "C" __EXPORT int meas_airspeed_main(int argc, char *argv[]);
MEASAirspeed::MEASAirspeed(int bus, int address, const char *path) : Airspeed(bus, address,
CONVERSION_INTERVAL, path)
CONVERSION_INTERVAL, path),
_filter(MEAS_RATE, MEAS_DRIVER_FILTER_FREQ)
{
}
@@ -212,6 +218,7 @@ MEASAirspeed::collect()
report.error_count = perf_event_count(_comms_errors);
report.temperature = temperature;
report.differential_pressure_pa = diff_press_pa;
report.differential_pressure_filtered_pa = _filter.apply(diff_press_pa);
report.voltage = 0;
report.max_differential_pressure_pa = _max_differential_pressure_pa;