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ms4525: remove old voltage corrections

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- this isn't correct for all boards and we now have airspeed scale
factor estimation
This commit is contained in:
Daniel Agar
2020-12-01 09:34:47 -05:00
parent 378b41af6a
commit d654be761c
1 changed files with 0 additions and 79 deletions
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src/drivers/differential_pressure/ms4525/ms4525_airspeed.cpp
-79
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@@ -53,7 +53,6 @@
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/i2c_spi_buses.h>
#include <uORB/topics/system_power.h>
#include <drivers/airspeed/airspeed.h>
@@ -94,14 +93,6 @@ protected:
int collect() override;
math::LowPassFilter2p _filter{MEAS_RATE, MEAS_DRIVER_FILTER_FREQ};
/**
* Correct for 5V rail voltage variations
*/
void voltage_correction(float &diff_pres_pa, float &temperature);
int _t_system_power{-1};
system_power_s system_power{};
};
/*
@@ -199,9 +190,6 @@ MEASAirspeed::collect()
float diff_press_PSI = -((dp_raw - 0.1f * 16383) * (P_max - P_min) / (0.8f * 16383) + P_min);
float diff_press_pa_raw = diff_press_PSI * PSI_to_Pa;
// correct for 5V rail voltage if possible
voltage_correction(diff_press_pa_raw, temperature);
/*
With the above calculation the MS4525 sensor will produce a
positive number when the top port is used as a dynamic port
@@ -276,73 +264,6 @@ MEASAirspeed::RunImpl()
ScheduleDelayed(CONVERSION_INTERVAL);
}
/**
correct for 5V rail voltage if the system_power ORB topic is
available
See http://uav.tridgell.net/MS4525/MS4525-offset.png for a graph of
offset versus voltage for 3 sensors
*/
void
MEASAirspeed::voltage_correction(float &diff_press_pa, float &temperature)
{
#if defined(ADC_SCALED_V5_SENSE)
if (_t_system_power == -1) {
_t_system_power = orb_subscribe(ORB_ID(system_power));
}
if (_t_system_power == -1) {
// not available
return;
}
bool updated = false;
orb_check(_t_system_power, &updated);
if (updated) {
orb_copy(ORB_ID(system_power), _t_system_power, &system_power);
}
if (system_power.voltage5v_v < 3.0f || system_power.voltage5v_v > 6.0f) {
// not valid, skip correction
return;
}
const float slope = 65.0f;
/*
apply a piecewise linear correction, flattening at 0.5V from 5V
*/
float voltage_diff = system_power.voltage5v_v - 5.0f;
if (voltage_diff > 0.5f) {
voltage_diff = 0.5f;
}
if (voltage_diff < -0.5f) {
voltage_diff = -0.5f;
}
diff_press_pa -= voltage_diff * slope;
/*
the temperature masurement varies as well
*/
const float temp_slope = 0.887f;
voltage_diff = system_power.voltage5v_v - 5.0f;
if (voltage_diff > 0.5f) {
voltage_diff = 0.5f;
}
if (voltage_diff < -1.0f) {
voltage_diff = -1.0f;
}
temperature -= voltage_diff * temp_slope;
#endif // defined(ADC_SCALED_V5_SENSE)
}
I2CSPIDriverBase *MEASAirspeed::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
{