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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/modules/commander/airspeed_calibration.cpp
+32 -26
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@@ -76,38 +76,38 @@ int do_airspeed_calibration(orb_advert_t *mavlink_log_pub)
const unsigned calibration_count = (maxcount * 2) / 3;
uORB::SubscriptionBlocking<differential_pressure_s> diff_pres_sub{ORB_ID(differential_pressure)};
float diff_pres_offset = 0.0f;
if (param_set(param_find("SENS_DPRES_OFF"), &diff_pres_offset) != PX4_OK) {
calibration_log_critical(mavlink_log_pub, CAL_ERROR_SET_PARAMS_MSG);
goto error_return;
return PX4_ERROR;
}
calibration_log_critical(mavlink_log_pub, "[cal] Ensure sensor is not measuring wind");
px4_usleep(500 * 1000);
uORB::SubscriptionBlocking<differential_pressure_s> diff_pres_sub{ORB_ID(differential_pressure)};
while (calibration_counter < calibration_count) {
if (calibrate_cancel_check(mavlink_log_pub, calibration_started)) {
goto error_return;
return PX4_ERROR;
}
differential_pressure_s diff_pres;
if (diff_pres_sub.updateBlocking(diff_pres, 1000000)) {
diff_pres_offset += diff_pres.differential_pressure_raw_pa;
diff_pres_offset += diff_pres.differential_pressure_pa;
calibration_counter++;
/* any differential pressure failure a reason to abort */
if (diff_pres.error_count != 0) {
calibration_log_critical(mavlink_log_pub, "[cal] Airspeed sensor is reporting errors (%" PRIu64 ")",
calibration_log_critical(mavlink_log_pub, "[cal] Airspeed sensor is reporting errors (%" PRIu32 ")",
diff_pres.error_count);
calibration_log_critical(mavlink_log_pub, "[cal] Check wiring, reboot vehicle, and try again");
feedback_calibration_failed(mavlink_log_pub);
goto error_return;
return PX4_ERROR;
}
if (calibration_counter % (calibration_count / 20) == 0) {
@@ -117,7 +117,7 @@ int do_airspeed_calibration(orb_advert_t *mavlink_log_pub)
} else {
/* any poll failure for 1s is a reason to abort */
feedback_calibration_failed(mavlink_log_pub);
goto error_return;
return PX4_ERROR;
}
}
@@ -134,12 +134,12 @@ int do_airspeed_calibration(orb_advert_t *mavlink_log_pub)
if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) {
calibration_log_critical(mavlink_log_pub, CAL_ERROR_SET_PARAMS_MSG);
goto error_return;
return PX4_ERROR;
}
} else {
feedback_calibration_failed(mavlink_log_pub);
goto error_return;
return PX4_ERROR;
}
calibration_log_info(mavlink_log_pub, "[cal] Offset of %d Pascal", (int)diff_pres_offset);
@@ -149,28 +149,35 @@ int do_airspeed_calibration(orb_advert_t *mavlink_log_pub)
calibration_log_critical(mavlink_log_pub, "[cal] Blow into front of pitot without touching");
float differential_pressure_sum = 0.f;
int differential_pressure_sum_count = 0;
calibration_counter = 0;
/* just take a few samples and make sure pitot tubes are not reversed, timeout after ~30 seconds */
while (calibration_counter < maxcount) {
if (calibrate_cancel_check(mavlink_log_pub, calibration_started)) {
goto error_return;
return PX4_ERROR;
}
differential_pressure_s diff_pres;
if (diff_pres_sub.updateBlocking(diff_pres, 1000000)) {
if (fabsf(diff_pres.differential_pressure_filtered_pa) > 50.0f) {
if (diff_pres.differential_pressure_filtered_pa > 0) {
calibration_log_info(mavlink_log_pub, "[cal] Positive pressure: OK (%d Pa)",
(int)diff_pres.differential_pressure_filtered_pa);
differential_pressure_sum += diff_pres.differential_pressure_pa;
differential_pressure_sum_count++;
const float differential_pressure_pa = (differential_pressure_sum / differential_pressure_sum_count) - diff_pres_offset;
if ((differential_pressure_sum_count > 10) && (fabsf(differential_pressure_pa) > 50.f)) {
if (differential_pressure_pa > 0) {
calibration_log_info(mavlink_log_pub, "[cal] Positive pressure: OK (%d Pa)", (int)differential_pressure_pa);
break;
} else {
/* do not allow negative values */
calibration_log_critical(mavlink_log_pub, "[cal] Negative pressure difference detected (%d Pa)",
(int)diff_pres.differential_pressure_filtered_pa);
(int)differential_pressure_pa);
calibration_log_critical(mavlink_log_pub, "[cal] Swap static and dynamic ports!");
/* the user setup is wrong, wipe the calibration to force a proper re-calibration */
@@ -178,7 +185,7 @@ int do_airspeed_calibration(orb_advert_t *mavlink_log_pub)
if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) {
calibration_log_critical(mavlink_log_pub, CAL_ERROR_SET_PARAMS_MSG);
goto error_return;
return PX4_ERROR;
}
/* save */
@@ -186,14 +193,18 @@ int do_airspeed_calibration(orb_advert_t *mavlink_log_pub)
param_save_default();
feedback_calibration_failed(mavlink_log_pub);
goto error_return;
return PX4_ERROR;
}
}
if (calibration_counter % 500 == 0) {
calibration_log_info(mavlink_log_pub, "[cal] Create air pressure! (got %d, wanted: 50 Pa)",
(int)diff_pres.differential_pressure_filtered_pa);
(int)differential_pressure_pa);
tune_neutral(true);
// reset average
differential_pressure_sum = 0.f;
differential_pressure_sum_count = 0;
}
calibration_counter++;
@@ -201,13 +212,13 @@ int do_airspeed_calibration(orb_advert_t *mavlink_log_pub)
} else {
/* any poll failure for 1s is a reason to abort */
feedback_calibration_failed(mavlink_log_pub);
goto error_return;
return PX4_ERROR;
}
}
if (calibration_counter == maxcount) {
feedback_calibration_failed(mavlink_log_pub);
goto error_return;
return PX4_ERROR;
}
calibration_log_info(mavlink_log_pub, CAL_QGC_PROGRESS_MSG, 100);
@@ -215,13 +226,8 @@ int do_airspeed_calibration(orb_advert_t *mavlink_log_pub)
calibration_log_info(mavlink_log_pub, CAL_QGC_DONE_MSG, sensor_name);
tune_neutral(true);
normal_return:
// This give a chance for the log messages to go out of the queue before someone else stomps on then
px4_sleep(1);
return result;
error_return:
result = PX4_ERROR;
goto normal_return;
}