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Allow negative differential pressure if parameter enabled (#24434)

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This commit is contained in:
Andy Wheatley
2025-03-24 09:42:36 +01:00
committed by GitHub
parent fdebdc447d
commit ca2ed655b8
10 changed files with 85 additions and 2 deletions
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src/drivers/differential_pressure/asp5033/ASP5033.cpp
+10
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@@ -40,6 +40,7 @@
*/
#include "ASP5033.hpp"
#include <parameters/param.h>
ASP5033::ASP5033(const I2CSPIDriverConfig &config) :
I2C(config),
@@ -232,6 +233,15 @@ int ASP5033::collect()
differential_pressure.timestamp_sample = timestamp_sample;
differential_pressure.device_id = get_device_id();
differential_pressure.differential_pressure_pa = _pressure;
int32_t differential_press_rev = 0;
param_get(param_find("SENS_DPRES_REV"), &differential_press_rev);
//If differential pressure reverse param set, swap positive and negative
if (differential_press_rev == 1) {
differential_pressure.differential_pressure_pa = -1.0f * _pressure;
}
differential_pressure.temperature = _temperature ;
differential_pressure.error_count = perf_event_count(_comms_errors);
differential_pressure.timestamp = timestamp_sample;
src/drivers/differential_pressure/auav/AUAV_Differential.cpp
+9
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@@ -32,6 +32,7 @@
****************************************************************************/
#include "AUAV_Differential.hpp"
#include <parameters/param.h>
AUAV_Differential::AUAV_Differential(const I2CSPIDriverConfig &config) :
AUAV(config)
@@ -46,6 +47,14 @@ void AUAV_Differential::publish_pressure(const float pressure_p, const float tem
differential_pressure.timestamp_sample = timestamp_sample;
differential_pressure.device_id = get_device_id();
differential_pressure.differential_pressure_pa = pressure_p;
int32_t differential_press_rev = 0;
param_get(param_find("SENS_DPRES_REV"), &differential_press_rev);
//If differential pressure reverse param set, swap positive and negative
if (differential_press_rev == 1) {
differential_pressure.differential_pressure_pa = -1.0f * pressure_p;
}
differential_pressure.temperature = temperature_c;
differential_pressure.error_count = perf_event_count(_comms_errors);
_differential_pressure_pub.publish(differential_pressure);
src/drivers/differential_pressure/ets/ETSAirspeed.cpp
+9
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@@ -32,6 +32,7 @@
****************************************************************************/
#include "ETSAirspeed.hpp"
#include <parameters/param.h>
ETSAirspeed::ETSAirspeed(const I2CSPIDriverConfig &config) :
I2C(config),
@@ -113,6 +114,14 @@ int ETSAirspeed::collect()
differential_pressure.timestamp_sample = timestamp_sample;
differential_pressure.device_id = get_device_id();
differential_pressure.differential_pressure_pa = diff_press_pa;
int32_t differential_press_rev = 0;
param_get(param_find("SENS_DPRES_REV"), &differential_press_rev);
//If differential pressure reverse param set, swap positive and negative
if (differential_press_rev == 1) {
differential_pressure.differential_pressure_pa = -1.0f * diff_press_pa;
}
differential_pressure.temperature = NAN;
differential_pressure.error_count = perf_event_count(_comms_errors);
differential_pressure.timestamp = hrt_absolute_time();
src/drivers/differential_pressure/ms4515/MS4515.cpp
+9
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@@ -32,6 +32,7 @@
****************************************************************************/
#include "MS4515.hpp"
#include <parameters/param.h>
MS4515::MS4515(const I2CSPIDriverConfig &config) :
I2C(config),
@@ -163,6 +164,14 @@ int MS4515::collect()
differential_pressure.timestamp_sample = timestamp_sample;
differential_pressure.device_id = get_device_id();
differential_pressure.differential_pressure_pa = diff_press_pa;
int32_t differential_press_rev = 0;
param_get(param_find("SENS_DPRES_REV"), &differential_press_rev);
//If differential pressure reverse param set, swap positive and negative
if (differential_press_rev == 1) {
differential_pressure.differential_pressure_pa = -1.0f * diff_press_pa;
}
differential_pressure.temperature = temperature_c;
differential_pressure.error_count = perf_event_count(_comms_errors);
differential_pressure.timestamp = hrt_absolute_time();
src/drivers/differential_pressure/ms4525do/MS4525DO.cpp
+9
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@@ -32,6 +32,7 @@
****************************************************************************/
#include "MS4525DO.hpp"
#include <parameters/param.h>
using namespace time_literals;
@@ -200,6 +201,14 @@ void MS4525DO::RunImpl()
differential_pressure.timestamp_sample = _timestamp_sample;
differential_pressure.device_id = get_device_id();
differential_pressure.differential_pressure_pa = diff_press_pa;
int32_t differential_press_rev = 0;
param_get(param_find("SENS_DPRES_REV"), &differential_press_rev);
//If differential pressure reverse param set, swap positive and negative
if (differential_press_rev == 1) {
differential_pressure.differential_pressure_pa = -1.0f * diff_press_pa;
}
differential_pressure.temperature = temperature_c;
differential_pressure.error_count = perf_event_count(_comms_errors);
differential_pressure.timestamp = hrt_absolute_time();
src/drivers/differential_pressure/ms5525dso/MS5525DSO.cpp
+9
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@@ -32,6 +32,7 @@
****************************************************************************/
#include "MS5525DSO.hpp"
#include <parameters/param.h>
MS5525DSO::MS5525DSO(const I2CSPIDriverConfig &config) :
I2C(config),
@@ -308,6 +309,14 @@ int MS5525DSO::collect()
differential_pressure.timestamp_sample = timestamp_sample;
differential_pressure.device_id = get_device_id();
differential_pressure.differential_pressure_pa = diff_press_pa;
int32_t differential_press_rev = 0;
param_get(param_find("SENS_DPRES_REV"), &differential_press_rev);
//If differential pressure reverse param set, swap positive and negative
if (differential_press_rev == 1) {
differential_pressure.differential_pressure_pa = -1.0f * diff_press_pa;
}
differential_pressure.temperature = temperature_c;
differential_pressure.error_count = perf_event_count(_comms_errors);
differential_pressure.timestamp = hrt_absolute_time();
src/drivers/differential_pressure/sdp3x/SDP3X.cpp
+9
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@@ -32,6 +32,7 @@
****************************************************************************/
#include "SDP3X.hpp"
#include <parameters/param.h>
using namespace time_literals;
@@ -187,6 +188,14 @@ int SDP3X::collect()
differential_pressure.timestamp_sample = timestamp_sample;
differential_pressure.device_id = get_device_id();
differential_pressure.differential_pressure_pa = diff_press_pa;
int32_t differential_press_rev = 0;
param_get(param_find("SENS_DPRES_REV"), &differential_press_rev);
//If differential pressure reverse param set, swap positive and negative
if (differential_press_rev == 1) {
differential_pressure.differential_pressure_pa = -1.0f * diff_press_pa;
}
differential_pressure.temperature = temperature_c;
differential_pressure.error_count = perf_event_count(_comms_errors);
differential_pressure.timestamp = hrt_absolute_time();
src/drivers/uavcan/sensors/differential_pressure.cpp
+8 -1
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@@ -69,8 +69,15 @@ void UavcanDifferentialPressureBridge::air_sub_cb(const
_device_id.devid_s.devtype = DRV_DIFF_PRESS_DEVTYPE_UAVCAN;
_device_id.devid_s.address = msg.getSrcNodeID().get() & 0xFF;
float diff_press_pa = msg.differential_pressure;
int32_t differential_press_rev = 0;
param_get(param_find("SENS_DPRES_REV"), &differential_press_rev);
//If differential pressure reverse param set, swap positive and negative
if (differential_press_rev == 1) {
diff_press_pa = -1.0f * msg.differential_pressure;
}
float temperature_c = msg.static_air_temperature + atmosphere::kAbsoluteNullCelsius;
differential_pressure_s report{};