fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-19 07:23:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

airspeed sensors apply offset separately

Browse Source
This commit is contained in:
Daniel Agar
2017-07-06 10:05:07 -04:00
parent c45d369004
commit eb067291bf
12 changed files with 10 additions and 71 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/airspeed/airspeed.cpp
-1
View File
@@ -80,7 +80,6 @@
Airspeed::Airspeed(int bus, int address, unsigned conversion_interval, const char *path) :
I2C("Airspeed", path, bus, address, 100000),
_reports(nullptr),
_max_differential_pressure_pa(0),
_sensor_ok(false),
_last_published_sensor_ok(true), /* initialize differently to force publication */
_measure_ticks(0),
src/drivers/airspeed/airspeed.h
-1
View File
@@ -127,7 +127,6 @@ protected:
void update_status();
work_s _work;
float _max_differential_pressure_pa;
bool _sensor_ok;
bool _last_published_sensor_ok;
uint32_t _measure_ticks;
src/drivers/ets_airspeed/ets_airspeed.cpp
-6
View File
@@ -171,18 +171,12 @@ ETSAirspeed::collect()
// The raw value still should be compensated for the known offset
diff_pres_pa_raw -= _diff_pres_offset;
// Track maximum differential pressure measured (so we can work out top speed).
if (diff_pres_pa_raw > _max_differential_pressure_pa) {
_max_differential_pressure_pa = diff_pres_pa_raw;
}
report.error_count = perf_event_count(_comms_errors);
// XXX we may want to smooth out the readings to remove noise.
report.differential_pressure_filtered_pa = diff_pres_pa_raw;
report.differential_pressure_raw_pa = diff_pres_pa_raw;
report.temperature = -1000.0f;
report.max_differential_pressure_pa = _max_differential_pressure_pa;
if (_airspeed_pub != nullptr && !(_pub_blocked)) {
/* publish it */
src/drivers/ms4525_airspeed/ms4525_airspeed.cpp
+2 -12
View File
@@ -234,9 +234,6 @@ MEASAirspeed::collect()
// correct for 5V rail voltage if possible
voltage_correction(diff_press_pa_raw, temperature);
// the raw value still should be compensated for the known offset
diff_press_pa_raw -= _diff_pres_offset;
/*
With the above calculation the MS4525 sensor will produce a
positive number when the top port is used as a dynamic port
@@ -245,18 +242,11 @@ MEASAirspeed::collect()
struct differential_pressure_s report;
/* track maximum differential pressure measured (so we can work out top speed). */
if (diff_press_pa_raw > _max_differential_pressure_pa) {
_max_differential_pressure_pa = diff_press_pa_raw;
}
report.timestamp = hrt_absolute_time();
report.error_count = perf_event_count(_comms_errors);
report.temperature = temperature;
report.differential_pressure_filtered_pa = _filter.apply(diff_press_pa_raw);
report.differential_pressure_raw_pa = diff_press_pa_raw;
report.max_differential_pressure_pa = _max_differential_pressure_pa;
report.differential_pressure_filtered_pa = _filter.apply(diff_press_pa_raw) - _diff_pres_offset;
report.differential_pressure_raw_pa = diff_press_pa_raw - _diff_pres_offset;
if (_airspeed_pub != nullptr && !(_pub_blocked)) {
/* publish it */
src/drivers/ms5525_airspeed/MS5525.cpp
+5 -14
View File
@@ -244,26 +244,17 @@ MS5525::collect()
const float diff_press_PSI = P * 0.0001f;
// 1 PSI = 6894.76 Pascals
const float PSI_to_Pa = 6894.757f;
float diff_press_pa_raw = diff_press_PSI * PSI_to_Pa;
static constexpr float PSI_to_Pa = 6894.757f;
const float diff_press_pa_raw = diff_press_PSI * PSI_to_Pa;
const float temperature_c = TEMP * 0.01f;
// the raw value still should be compensated for the known offset
diff_press_pa_raw -= _diff_pres_offset;
/* track maximum differential pressure measured (so we can work out top speed). */
if (diff_press_pa_raw > _max_differential_pressure_pa) {
_max_differential_pressure_pa = diff_press_pa_raw;
}
differential_pressure_s diff_pressure = {
.timestamp = hrt_absolute_time(),
.error_count = perf_event_count(_comms_errors),
.differential_pressure_raw_pa = diff_press_pa_raw,
.differential_pressure_filtered_pa = _filter.apply(diff_press_pa_raw),
.max_differential_pressure_pa = _max_differential_pressure_pa,
.temperature = temperature_c
.differential_pressure_raw_pa = diff_press_pa_raw - _diff_pres_offset,
.differential_pressure_filtered_pa = _filter.apply(diff_press_pa_raw) - _diff_pres_offset,
.temperature = temperature_c,
};
if (_airspeed_pub != nullptr && !(_pub_blocked)) {
src/drivers/sdp3x_airspeed/SDP3X.cpp
+2 -12
View File
@@ -134,25 +134,15 @@ SDP3X::collect()
float diff_press_pa_raw = static_cast<float>(P) / static_cast<float>(_scale);
float temperature_c = temp / static_cast<float>(SDP3X_SCALE_TEMPERATURE);
// the raw value still should be compensated for the known offset
diff_press_pa_raw -= _diff_pres_offset;
differential_pressure_s report;
// track maximum differential pressure measured (so we can work out top speed).
if (diff_press_pa_raw > _max_differential_pressure_pa) {
_max_differential_pressure_pa = diff_press_pa_raw;
}
report.timestamp = hrt_absolute_time();
report.error_count = perf_event_count(_comms_errors);
report.temperature = temperature_c;
report.differential_pressure_filtered_pa = _filter.apply(diff_press_pa_raw);
report.differential_pressure_raw_pa = diff_press_pa_raw;
report.max_differential_pressure_pa = _max_differential_pressure_pa;
report.differential_pressure_filtered_pa = _filter.apply(diff_press_pa_raw) - _diff_pres_offset;
report.differential_pressure_raw_pa = diff_press_pa_raw - _diff_pres_offset;
if (_airspeed_pub != nullptr && !(_pub_blocked)) {
// publish it
orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report);
}