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Lorenz Meier
2013-02-26 21:17:48 +01:00
parent dffe05d893 a9b933b7e6
commit c848fd1d63
9 changed files with 227 additions and 68 deletions
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apps/sensors/sensors.cpp
+18 -11
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@@ -187,6 +187,7 @@ private:
float mag_scale[3];
float accel_offset[3];
float accel_scale[3];
float airspeed_offset;
int rc_type;
@@ -235,6 +236,7 @@ private:
param_t accel_scale[3];
param_t mag_offset[3];
param_t mag_scale[3];
param_t airspeed_offset;
param_t rc_map_roll;
param_t rc_map_pitch;
@@ -480,6 +482,9 @@ Sensors::Sensors() :
_parameter_handles.mag_scale[1] = param_find("SENS_MAG_YSCALE");
_parameter_handles.mag_scale[2] = param_find("SENS_MAG_ZSCALE");
/*Airspeed offset */
_parameter_handles.airspeed_offset = param_find("SENS_VAIR_OFF");
_parameter_handles.battery_voltage_scaling = param_find("BAT_V_SCALING");
/* fetch initial parameter values */
@@ -687,6 +692,9 @@ Sensors::parameters_update()
param_get(_parameter_handles.mag_scale[1], &(_parameters.mag_scale[1]));
param_get(_parameter_handles.mag_scale[2], &(_parameters.mag_scale[2]));
/* Airspeed offset */
param_get(_parameter_handles.airspeed_offset, &(_parameters.airspeed_offset));
/* scaling of ADC ticks to battery voltage */
if (param_get(_parameter_handles.battery_voltage_scaling, &(_parameters.battery_voltage_scaling)) != OK) {
warnx("Failed updating voltage scaling param");
@@ -993,7 +1001,7 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
/* look for battery channel */
for (unsigned i = 0; i < sizeof(buf_adc) / sizeof(buf_adc[0]); i++) {
if (ret >= (int)sizeof(buf_adc[0])) {
if (ADC_BATTERY_VOLTAGE_CHANNEL == buf_adc[i].am_channel) {
@@ -1025,8 +1033,7 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
} else if (ADC_AIRSPEED_VOLTAGE_CHANNEL == buf_adc[i].am_channel) {
/* calculate airspeed, raw is the difference from */
float voltage = buf_adc[i].am_data / 4096.0f;
float voltage = (float)(buf_adc[i].am_data ) * 3.3f / 4096.0f * 2.0f; //V_ref/4096 * (voltage divider factor)
/**
* The voltage divider pulls the signal down, only act on
@@ -1034,24 +1041,24 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
*/
if (voltage > 0.4f) {
float pres_raw = fabsf(voltage - (3.3f / 2.0f));
float pres_mbar = pres_raw * (3.3f / 5.0f) * 10.0f;
float diff_pres_pa = (voltage - _parameters.airspeed_offset) * 1000.0f; //for MPXV7002DP sensor
float airspeed_true = calc_true_airspeed(pres_mbar + _barometer.pressure,
_barometer.pressure, _barometer.temperature - 5.0f);
float airspeed_true = calc_true_airspeed(diff_pres_pa + _barometer.pressure*1e2f,
_barometer.pressure*1e2f, _barometer.temperature - 5.0f); //factor 1e2 for conversion from mBar to Pa
// XXX HACK - true temperature is much less than indicated temperature in baro,
// subtract 5 degrees in an attempt to account for the electrical upheating of the PCB
float airspeed_indicated = calc_indicated_airspeed(pres_mbar + _barometer.pressure,
_barometer.pressure, _barometer.temperature - 5.0f);
// XXX HACK
float airspeed_indicated = calc_indicated_airspeed(diff_pres_pa);
//printf("voltage: %.4f, diff_pres_pa %.4f, baro press %.4f Pa, v_ind %.4f, v_true %.4f\n", (double)voltage, (double)diff_pres_pa, (double)_barometer.pressure*1e2f, (double)airspeed_indicated, (double)airspeed_true);
_differential_pressure.timestamp = hrt_absolute_time();
_differential_pressure.static_pressure_mbar = _barometer.pressure;
_differential_pressure.differential_pressure_mbar = pres_mbar;
_differential_pressure.differential_pressure_mbar = diff_pres_pa*1e-2f;
_differential_pressure.temperature_celcius = _barometer.temperature;
_differential_pressure.indicated_airspeed_m_s = airspeed_indicated;
_differential_pressure.true_airspeed_m_s = airspeed_true;
_differential_pressure.voltage = voltage;
/* announce the airspeed if needed, just publish else */
if (_airspeed_pub > 0) {