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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/uavcan/sensors/differential_pressure.cpp
+9 -10
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@@ -65,21 +65,20 @@ int UavcanDifferentialPressureBridge::init()
void UavcanDifferentialPressureBridge::air_sub_cb(const
uavcan::ReceivedDataStructure<uavcan::equipment::air_data::RawAirData> &msg)
{
const hrt_abstime timestamp_sample = hrt_absolute_time();
_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;
float temperature_c = msg.static_air_temperature + CONSTANTS_ABSOLUTE_NULL_CELSIUS;
if (PX4_ISFINITE(diff_press_pa)) {
differential_pressure_s report{};
differential_pressure_s report{};
report.timestamp_sample = timestamp_sample;
report.device_id = _device_id.devid;
report.differential_pressure_pa = diff_press_pa;
report.temperature = temperature_c;
report.timestamp = hrt_absolute_time();
report.differential_pressure_raw_pa = diff_press_pa;
report.differential_pressure_filtered_pa = _filter.apply(diff_press_pa);
report.temperature = temperature_c;
report.device_id = _device_id.devid;
report.timestamp = hrt_absolute_time();
publish(msg.getSrcNodeID().get(), &report);
}
publish(msg.getSrcNodeID().get(), &report);
}
src/drivers/uavcan/sensors/differential_pressure.hpp
-3
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@@ -37,7 +37,6 @@
#pragma once
#include <mathlib/math/filter/LowPassFilter2p.hpp>
#include <uORB/topics/differential_pressure.h>
#include "sensor_bridge.hpp"
@@ -56,8 +55,6 @@ public:
int init() override;
private:
math::LowPassFilter2p<float> _filter{10.f, 1.1f}; /// Adapted from MS5525 driver
void air_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::air_data::RawAirData> &msg);
typedef uavcan::MethodBinder < UavcanDifferentialPressureBridge *,