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autom. trigger baro calib on boot

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This commit is contained in:
Marco Hauswirth 2025-01-15 09:51:10 +01:00
parent 68b349be2f
commit aeb2a1afff
2 changed files with 24 additions and 0 deletions
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21
src/modules/sensors/vehicle_air_data/VehicleAirData.cpp
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@ -37,6 +37,7 @@
#include <px4_platform_common/events.h>
#include <lib/geo/geo.h>
#include <lib/atmosphere/atmosphere.h>
#include <uORB/topics/vehicle_command.h>
namespace sensors
{
@ -293,6 +294,26 @@ void VehicleAirData::Run()
}
}
}
if (!_calibration_done) {
// allow all drivers to start up
_calibration_delay = _calibration_delay == 0 ? time_now_us : _calibration_delay;
if (time_now_us - _calibration_delay > 1_s) {
_calibration_done = true;
uORB::Publication<vehicle_command_s> _vehicle_command_sub{ORB_ID(vehicle_command)};
vehicle_command_s vcmd{};
vcmd.command = vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION;
vcmd.param1 = 0;
vcmd.param2 = 0;
vcmd.param3 = 1;
vcmd.param4 = 0;
vcmd.param5 = 0;
vcmd.param6 = 0;
vcmd.param7 = 0;
_vehicle_command_sub.publish(vcmd);
}
}
}
if (!parameter_update) {

3
src/modules/sensors/vehicle_air_data/VehicleAirData.hpp
View File

@ -123,6 +123,9 @@ private:
float _air_temperature_celsius{20.f}; // initialize with typical 20degC ambient temperature
bool _calibration_done{false};
uint64_t _calibration_delay{0};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::SENS_BARO_QNH>) _param_sens_baro_qnh,
(ParamFloat<px4::params::SENS_BARO_RATE>) _param_sens_baro_rate