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Merge branch 'master' into export-build

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px4dev
2013-03-20 23:05:19 -07:00
parent f7b14b2e23 b7d65bf8fc
commit db91dffb23
98 changed files with 6673 additions and 2338 deletions
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apps/systemlib/airspeed.c
+42 -12
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@@ -40,14 +40,31 @@
*
*/
#include "math.h"
#include <stdio.h>
#include <math.h>
#include "conversions.h"
#include "airspeed.h"
float calc_indicated_airspeed(float pressure_front, float pressure_ambient, float temperature)
/**
* Calculate indicated airspeed.
*
* Note that the indicated airspeed is not the true airspeed because it
* lacks the air density compensation. Use the calc_true_airspeed functions to get
* the true airspeed.
*
* @param differential_pressure total_ pressure - static pressure
* @return indicated airspeed in m/s
*/
float calc_indicated_airspeed(float differential_pressure)
{
return sqrtf((2.0f*(pressure_front - pressure_ambient)) / CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C);
if (differential_pressure > 0) {
return sqrtf((2.0f*differential_pressure) / CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C);
} else {
return -sqrtf((2.0f*fabs(differential_pressure)) / CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C);
}
}
/**
@@ -55,14 +72,14 @@ float calc_indicated_airspeed(float pressure_front, float pressure_ambient, floa
*
* Note that the true airspeed is NOT the groundspeed, because of the effects of wind
*
* @param speed current indicated airspeed
* @param speed_indicated current indicated airspeed
* @param pressure_ambient pressure at the side of the tube/airplane
* @param temperature air temperature in degrees celcius
* @param temperature_celsius air temperature in degrees celcius
* @return true airspeed in m/s
*/
float calc_true_airspeed_from_indicated(float speed, float pressure_ambient, float temperature)
float calc_true_airspeed_from_indicated(float speed_indicated, float pressure_ambient, float temperature_celsius)
{
return speed * sqrtf(CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C / get_air_density(pressure_ambient, temperature));
return speed_indicated * sqrtf(CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C / get_air_density(pressure_ambient, temperature_celsius));
}
/**
@@ -70,12 +87,25 @@ float calc_true_airspeed_from_indicated(float speed, float pressure_ambient, flo
*
* Note that the true airspeed is NOT the groundspeed, because of the effects of wind
*
* @param pressure_front pressure inside the pitot/prandl tube
* @param pressure_ambient pressure at the side of the tube/airplane
* @param temperature air temperature in degrees celcius
* @param total_pressure pressure inside the pitot/prandtl tube
* @param static_pressure pressure at the side of the tube/airplane
* @param temperature_celsius air temperature in degrees celcius
* @return true airspeed in m/s
*/
float calc_true_airspeed(float pressure_front, float pressure_ambient, float temperature)
float calc_true_airspeed(float total_pressure, float static_pressure, float temperature_celsius)
{
return sqrtf((2.0f*(pressure_front - pressure_ambient)) / get_air_density(pressure_ambient, temperature));
float density = get_air_density(static_pressure, temperature_celsius);
if (density < 0.0001f || !isfinite(density)) {
density = CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C;
printf("[airspeed] Invalid air density, using density at sea level\n");
}
float pressure_difference = total_pressure - static_pressure;
if(pressure_difference > 0) {
return sqrtf((2.0f*(pressure_difference)) / density);
} else
{
return -sqrtf((2.0f*fabs(pressure_difference)) / density);
}
}
apps/systemlib/airspeed.h
+34 -35
View File
@@ -48,43 +48,42 @@
__BEGIN_DECLS
/**
* Calculate indicated airspeed.
*
* Note that the indicated airspeed is not the true airspeed because it
* lacks the air density compensation. Use the calc_true_airspeed functions to get
* the true airspeed.
*
* @param pressure_front pressure inside the pitot/prandl tube
* @param pressure_ambient pressure at the side of the tube/airplane
* @param temperature air temperature in degrees celcius
* @return indicated airspeed in m/s
*/
__EXPORT float calc_indicated_airspeed(float pressure_front, float pressure_ambient, float temperature);
/**
* Calculate indicated airspeed.
*
* Note that the indicated airspeed is not the true airspeed because it
* lacks the air density compensation. Use the calc_true_airspeed functions to get
* the true airspeed.
*
* @param total_pressure pressure inside the pitot/prandtl tube
* @param static_pressure pressure at the side of the tube/airplane
* @return indicated airspeed in m/s
*/
__EXPORT float calc_indicated_airspeed(float differential_pressure);
/**
* Calculate true airspeed from indicated airspeed.
*
* Note that the true airspeed is NOT the groundspeed, because of the effects of wind
*
* @param speed current indicated airspeed
* @param pressure_ambient pressure at the side of the tube/airplane
* @param temperature air temperature in degrees celcius
* @return true airspeed in m/s
*/
__EXPORT float calc_true_airspeed_from_indicated(float speed, float pressure_ambient, float temperature);
/**
* Calculate true airspeed from indicated airspeed.
*
* Note that the true airspeed is NOT the groundspeed, because of the effects of wind
*
* @param speed_indicated current indicated airspeed
* @param pressure_ambient pressure at the side of the tube/airplane
* @param temperature_celsius air temperature in degrees celcius
* @return true airspeed in m/s
*/
__EXPORT float calc_true_airspeed_from_indicated(float speed_indicated, float pressure_ambient, float temperature_celsius);
/**
* Directly calculate true airspeed
*
* Note that the true airspeed is NOT the groundspeed, because of the effects of wind
*
* @param pressure_front pressure inside the pitot/prandl tube
* @param pressure_ambient pressure at the side of the tube/airplane
* @param temperature air temperature in degrees celcius
* @return true airspeed in m/s
*/
__EXPORT float calc_true_airspeed(float pressure_front, float pressure_ambient, float temperature);
/**
* Directly calculate true airspeed
*
* Note that the true airspeed is NOT the groundspeed, because of the effects of wind
*
* @param total_pressure pressure inside the pitot/prandtl tube
* @param static_pressure pressure at the side of the tube/airplane
* @param temperature_celsius air temperature in degrees celcius
* @return true airspeed in m/s
*/
__EXPORT float calc_true_airspeed(float total_pressure, float static_pressure, float temperature_celsius);
__END_DECLS
apps/systemlib/conversions.c
+1 -1
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@@ -150,5 +150,5 @@ void quat2rot(const float Q[4], float R[9])
float get_air_density(float static_pressure, float temperature_celsius)
{
return static_pressure / (CONSTANTS_AIR_GAS_CONST * (temperature_celsius + CONSTANTS_ABSOLUTE_NULL_KELVIN));
return static_pressure / (CONSTANTS_AIR_GAS_CONST * (temperature_celsius - CONSTANTS_ABSOLUTE_NULL_CELSIUS));
}
apps/systemlib/conversions.h
+4 -4
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@@ -44,10 +44,10 @@
#include <float.h>
#include <stdint.h>
#define CONSTANTS_ONE_G 9.80665f
#define CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C 1.225f
#define CONSTANTS_AIR_GAS_CONST 8.31432f
#define CONSTANTS_ABSOLUTE_NULL_KELVIN 273.15f
#define CONSTANTS_ONE_G 9.80665f // m/s^2
#define CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C 1.225f // kg/m^3
#define CONSTANTS_AIR_GAS_CONST 287.1f // J/(kg * K)
#define CONSTANTS_ABSOLUTE_NULL_CELSIUS -273.15f // °C
__BEGIN_DECLS
apps/systemlib/mixer/mixer.cpp
+1
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@@ -54,6 +54,7 @@
#include "mixer.h"
Mixer::Mixer(ControlCallback control_cb, uintptr_t cb_handle) :
_next(nullptr),
_control_cb(control_cb),
_cb_handle(cb_handle)
{
apps/systemlib/mixer/mixer.h
+1 -1
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@@ -160,7 +160,7 @@ public:
* @param control_cb Callback invoked when reading controls.
*/
Mixer(ControlCallback control_cb, uintptr_t cb_handle);
~Mixer() {};
virtual ~Mixer() {};
/**
* Perform the mixing function.
apps/systemlib/mixer/mixer_group.cpp
+1
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@@ -93,6 +93,7 @@ MixerGroup::reset()
mixer = _first;
_first = mixer->_next;
delete mixer;
mixer = nullptr;
}
}
apps/systemlib/param/param.c
+1 -1
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@@ -87,7 +87,7 @@ struct param_wbuf_s {
UT_array *param_values;
/** array info for the modified parameters array */
UT_icd param_icd = {sizeof(struct param_wbuf_s), NULL, NULL, NULL};
const UT_icd param_icd = {sizeof(struct param_wbuf_s), NULL, NULL, NULL};
/** parameter update topic */
ORB_DEFINE(parameter_update, struct parameter_update_s);