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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
2020-04-06 22:15:31 -06:00
committed by GitHub
parent a67847aef1
commit d682ddb510
7 changed files with 222 additions and 9 deletions
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src/drivers/uavcannode/UavcanNode.cpp
+21
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@@ -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;