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differential pressure remove filters from drivers and average in sensors/airspeed

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This commit is contained in:
Daniel Agar
2022-04-26 08:39:19 -04:00
parent 258f558fea
commit d1d15a6f6d
20 changed files with 212 additions and 211 deletions
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src/drivers/differential_pressure/ets/ets_airspeed.cpp
+9 -14
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@@ -122,14 +122,12 @@ ETSAirspeed::measure()
int
ETSAirspeed::collect()
{
int ret = -EIO;
/* read from the sensor */
uint8_t val[2] = {0, 0};
perf_begin(_sample_perf);
ret = transfer(nullptr, 0, &val[0], 2);
const hrt_abstime timestamp_sample = hrt_absolute_time();
int ret = transfer(nullptr, 0, &val[0], 2);
if (ret < 0) {
perf_count(_comms_errors);
@@ -138,25 +136,22 @@ ETSAirspeed::collect()
float diff_pres_pa_raw = (float)(val[1] << 8 | val[0]);
differential_pressure_s report{};
report.timestamp = hrt_absolute_time();
if (diff_pres_pa_raw < FLT_EPSILON) {
// a zero value indicates no measurement
// since the noise floor has been arbitrarily killed
// it defeats our stuck sensor detection - the best we
// can do is to output some numerical noise to show
// that we are still correctly sampling.
diff_pres_pa_raw = 0.001f * (report.timestamp & 0x01);
diff_pres_pa_raw = 0.001f * (timestamp_sample & 0x01);
}
report.error_count = perf_event_count(_comms_errors);
// XXX we may want to smooth out the readings to remove noise.
report.differential_pressure_filtered_pa = diff_pres_pa_raw;
report.differential_pressure_raw_pa = diff_pres_pa_raw;
report.temperature = -1000.0f;
differential_pressure_s report{};
report.timestamp_sample = timestamp_sample;
report.device_id = _device_id.devid;
report.differential_pressure_pa = diff_pres_pa_raw;
report.temperature = NAN;
report.error_count = perf_event_count(_comms_errors);
report.timestamp = hrt_absolute_time();
_airspeed_pub.publish(report);