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fix MEAS airspeed and airspeed calibration

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Thomas Gubler
2013-11-10 19:24:37 +01:00
parent c63995e91c
commit ae9fae5aae
7 changed files with 52 additions and 13 deletions
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src/drivers/airspeed/airspeed.h
+1 -1
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@@ -119,7 +119,7 @@ protected:
virtual int collect() = 0;
work_s _work;
uint16_t _max_differential_pressure_pa;
float _max_differential_pressure_pa;
bool _sensor_ok;
int _measure_ticks;
bool _collect_phase;
src/drivers/ets_airspeed/ets_airspeed.cpp
+1 -1
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@@ -180,7 +180,7 @@ ETSAirspeed::collect()
differential_pressure_s report;
report.timestamp = hrt_absolute_time();
report.error_count = perf_event_count(_comms_errors);
report.differential_pressure_pa = diff_pres_pa;
report.differential_pressure_pa = (float)diff_pres_pa;
report.voltage = 0;
report.max_differential_pressure_pa = _max_differential_pressure_pa;
src/drivers/meas_airspeed/meas_airspeed.cpp
+8 -2
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@@ -36,6 +36,7 @@
* @author Lorenz Meier
* @author Sarthak Kaingade
* @author Simon Wilks
* @author Thomas Gubler
*
* Driver for the MEAS Spec series connected via I2C.
*
@@ -76,6 +77,7 @@
#include <systemlib/err.h>
#include <systemlib/param/param.h>
#include <systemlib/perf_counter.h>
#include <mathlib/mathlib.h>
#include <drivers/drv_airspeed.h>
#include <drivers/drv_hrt.h>
@@ -184,7 +186,7 @@ MEASAirspeed::collect()
//diff_pres_pa -= _diff_pres_offset;
int16_t dp_raw = 0, dT_raw = 0;
dp_raw = (val[0] << 8) + val[1];
dp_raw = 0x3FFF & dp_raw;
dp_raw = 0x3FFF & dp_raw; //mask the used bits
dT_raw = (val[2] << 8) + val[3];
dT_raw = (0xFFE0 & dT_raw) >> 5;
float temperature = ((200 * dT_raw) / 2047) - 50;
@@ -193,7 +195,11 @@ MEASAirspeed::collect()
// Calculate differential pressure. As its centered around 8000
// and can go positive or negative, enforce absolute value
uint16_t diff_press_pa = abs(dp_raw - (16384 / 2.0f));
// uint16_t diff_press_pa = abs(dp_raw - (16384 / 2.0f));
const float P_min = -1.0f;
const float P_max = 1.0f;
float diff_press_pa = math::max(0.0f, fabsf( ( ((float)dp_raw - 0.1f*16383.0f) * (P_max-P_min)/(0.8f*16383.0f) + P_min) * 6894.8f) - _diff_pres_offset);
struct differential_pressure_s report;
// Track maximum differential pressure measured (so we can work out top speed).