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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/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);