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UAVCAN differential pressure sensor support

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* added airspeed handling (differential pressure) to uavcan and uavcannode

Co-authored-by: Jacob Crabill <jacob@flyvoly.com>
This commit is contained in:
Jacob Dahl
2020-04-07 00:15:31 -04:00
committed by GitHub
co-authored by Jacob Crabill
parent a67847aef1
commit d682ddb510
7 changed files with 222 additions and 9 deletions
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src/drivers/uavcannode/UavcanNode.cpp
+21
View File
@@ -79,6 +79,7 @@ UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &sys
_power_battery_info_publisher(_node),
_air_data_static_pressure_publisher(_node),
_air_data_static_temperature_publisher(_node),
_raw_air_data_publisher(_node),
_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle time")),
_interval_perf(perf_alloc(PC_INTERVAL, MODULE_NAME": cycle interval")),
_reset_timer(_node)
@@ -297,6 +298,7 @@ void UavcanNode::Run()
_node.setModeOperational();
_diff_pressure_sub.registerCallback();
_sensor_baro_sub.registerCallback();
_sensor_mag_sub.registerCallback();
_vehicle_gps_position_sub.registerCallback();
@@ -352,6 +354,25 @@ void UavcanNode::Run()
}
}
// differential_pressure -> uavcan::equipment::air_data::RawAirData
if (_diff_pressure_sub.updated()) {
differential_pressure_s diff_press;
if (_diff_pressure_sub.copy(&diff_press)) {
uavcan::equipment::air_data::RawAirData raw_air_data{};
// raw_air_data.static_pressure =
raw_air_data.differential_pressure = diff_press.differential_pressure_raw_pa;
// raw_air_data.static_pressure_sensor_temperature =
raw_air_data.differential_pressure_sensor_temperature = diff_press.temperature;
raw_air_data.static_air_temperature = diff_press.temperature + CONSTANTS_ABSOLUTE_NULL_CELSIUS;
// raw_air_data.pitot_temperature
// raw_air_data.covariance
_raw_air_data_publisher.broadcast(raw_air_data);
}
}
// sensor_baro -> uavcan::equipment::air_data::StaticTemperature
if (_sensor_baro_sub.updated()) {
sensor_baro_s baro;
src/drivers/uavcannode/UavcanNode.hpp
+4 -2
View File
@@ -58,6 +58,7 @@
#include <uavcan/protocol/param/ExecuteOpcode.hpp>
#include <uavcan/protocol/RestartNode.hpp>
#include <uavcan/equipment/ahrs/MagneticFieldStrength2.hpp>
#include <uavcan/equipment/air_data/RawAirData.hpp>
#include <uavcan/equipment/air_data/StaticPressure.hpp>
#include <uavcan/equipment/air_data/StaticTemperature.hpp>
#include <uavcan/equipment/gnss/Fix2.hpp>
@@ -71,6 +72,7 @@
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/sensor_baro.h>
#include <uORB/topics/sensor_mag.h>
#include <uORB/topics/vehicle_gps_position.h>
@@ -170,13 +172,13 @@ private:
uavcan::Publisher<uavcan::equipment::power::BatteryInfo> _power_battery_info_publisher;
uavcan::Publisher<uavcan::equipment::air_data::StaticPressure> _air_data_static_pressure_publisher;
uavcan::Publisher<uavcan::equipment::air_data::StaticTemperature> _air_data_static_temperature_publisher;
uavcan::Publisher<uavcan::equipment::air_data::RawAirData> _raw_air_data_publisher;
hrt_abstime _last_static_temperature_publish{0};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
uORB::SubscriptionCallbackWorkItem _battery_status_sub{this, ORB_ID(battery_status)};
uORB::SubscriptionCallbackWorkItem _diff_pressure_sub{this, ORB_ID(differential_pressure)};
uORB::SubscriptionCallbackWorkItem _sensor_baro_sub{this, ORB_ID(sensor_baro)};
uORB::SubscriptionCallbackWorkItem _sensor_mag_sub{this, ORB_ID(sensor_mag)};
uORB::SubscriptionCallbackWorkItem _vehicle_gps_position_sub{this, ORB_ID(vehicle_gps_position)};