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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/sdp3x/SDP3X.cpp
+11 -13
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@@ -146,6 +146,8 @@ SDP3X::collect()
{
perf_begin(_sample_perf);
const hrt_abstime timestamp_sample = hrt_absolute_time();
// read 6 bytes from the sensor
uint8_t val[6];
int ret = transfer(nullptr, 0, &val[0], sizeof(val));
@@ -164,21 +166,17 @@ SDP3X::collect()
int16_t P = (((int16_t)val[0]) << 8) | val[1];
int16_t temp = (((int16_t)val[3]) << 8) | val[4];
float diff_press_pa_raw = static_cast<float>(P) / static_cast<float>(_scale);
float diff_press_pa = static_cast<float>(P) / static_cast<float>(_scale);
float temperature_c = temp / static_cast<float>(SDP3X_SCALE_TEMPERATURE);
if (PX4_ISFINITE(diff_press_pa_raw)) {
differential_pressure_s report{};
report.error_count = perf_event_count(_comms_errors);
report.temperature = temperature_c;
report.differential_pressure_filtered_pa = _filter.apply(diff_press_pa_raw);
report.differential_pressure_raw_pa = diff_press_pa_raw;
report.device_id = _device_id.devid;
report.timestamp = hrt_absolute_time();
_airspeed_pub.publish(report);
}
differential_pressure_s report;
report.device_id = get_device_id();
report.timestamp_sample = timestamp_sample;
report.differential_pressure_pa = diff_press_pa;
report.temperature = temperature_c;
report.error_count = perf_event_count(_comms_errors);
report.timestamp = hrt_absolute_time();
_airspeed_pub.publish(report);
perf_end(_sample_perf);