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sensors: sanity check differential pressure temperature (#15845)

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- if valid temperature unavailable then use ICAO Standard Atmosphere 15 degrees celcius
This commit is contained in:
Daniel Agar
2020-09-29 09:35:34 -04:00
committed by GitHub
parent da4d0e650a
commit c9c20666a2
2 changed files with 28 additions and 7 deletions
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src/modules/sensors/sensors.cpp
+16 -2
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@@ -335,8 +335,22 @@ void Sensors::diff_pres_poll()
vehicle_air_data_s air_data{};
_vehicle_air_data_sub.copy(&air_data);
float air_temperature_celsius = (diff_pres.temperature > -300.0f) ? diff_pres.temperature :
(air_data.baro_temp_celcius - PCB_TEMP_ESTIMATE_DEG);
float air_temperature_celsius = NAN;
// assume anything outside of a (generous) operating range of -40C to 125C is invalid
if (PX4_ISFINITE(diff_pres.temperature) && (diff_pres.temperature >= -40.f) && (diff_pres.temperature <= 125.f)) {
air_temperature_celsius = diff_pres.temperature;
} else {
// differential pressure temperature invalid, check barometer
if ((air_data.timestamp != 0) && PX4_ISFINITE(air_data.baro_temp_celcius)
&& (air_data.baro_temp_celcius >= -40.f) && (air_data.baro_temp_celcius <= 125.f)) {
// TODO: review PCB_TEMP_ESTIMATE_DEG, ignore for external baro
air_temperature_celsius = air_data.baro_temp_celcius - PCB_TEMP_ESTIMATE_DEG;
}
}
airspeed_s airspeed{};
airspeed.timestamp = diff_pres.timestamp;