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Merge remote-tracking branch 'upstream/beta' into beta

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Thomas Gubler
2014-01-27 23:46:57 +01:00
parent 3f79057dd1 428a90f4ae
commit fff97da360
1 changed files with 7 additions and 15 deletions
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src/drivers/meas_airspeed/meas_airspeed.cpp
+7 -15
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@@ -77,7 +77,6 @@
#include <systemlib/err.h> #include <systemlib/err.h>
#include <systemlib/param/param.h> #include <systemlib/param/param.h>
#include <systemlib/perf_counter.h> #include <systemlib/perf_counter.h>
#include <mathlib/mathlib.h>
#include <drivers/drv_airspeed.h> #include <drivers/drv_airspeed.h>
#include <drivers/drv_hrt.h> #include <drivers/drv_hrt.h>
@@ -178,24 +177,17 @@ MEASAirspeed::collect()
return ret; return ret;
} }
//uint16_t diff_pres_pa = (val[1]) | ((val[0] & ~(0xC0)) << 8);
uint16_t temp = (val[3] & 0xE0) << 8 | val[2];
// XXX leaving this in until new calculation method has been cross-checked
//diff_pres_pa = abs(diff_pres_pa - (16384 / 2.0f));
//diff_pres_pa -= _diff_pres_offset;
int16_t dp_raw = 0, dT_raw = 0; int16_t dp_raw = 0, dT_raw = 0;
dp_raw = (val[0] << 8) + val[1]; dp_raw = (val[0] << 8) + val[1];
dp_raw = 0x3FFF & dp_raw; //mask the used bits /* mask the used bits */
dp_raw = 0x3FFF & dp_raw;
dT_raw = (val[2] << 8) + val[3]; dT_raw = (val[2] << 8) + val[3];
dT_raw = (0xFFE0 & dT_raw) >> 5; dT_raw = (0xFFE0 & dT_raw) >> 5;
float temperature = ((200 * dT_raw) / 2047) - 50; float temperature = ((200 * dT_raw) / 2047) - 50;
// XXX we may want to smooth out the readings to remove noise. /* calculate differential pressure. As its centered around 8000
* and can go positive or negative, enforce absolute value
// Calculate differential pressure. As its centered around 8000 */
// and can go positive or negative, enforce absolute value
// uint16_t diff_press_pa = abs(dp_raw - (16384 / 2.0f));
const float P_min = -1.0f; const float P_min = -1.0f;
const float P_max = 1.0f; const float P_max = 1.0f;
float diff_press_pa = fabsf( ( ((float)dp_raw - 0.1f*16383.0f) * (P_max-P_min)/(0.8f*16383.0f) + P_min) * 6894.8f) - _diff_pres_offset; float diff_press_pa = fabsf( ( ((float)dp_raw - 0.1f*16383.0f) * (P_max-P_min)/(0.8f*16383.0f) + P_min) * 6894.8f) - _diff_pres_offset;
@@ -204,7 +196,7 @@ MEASAirspeed::collect()
struct differential_pressure_s report; struct differential_pressure_s report;
// Track maximum differential pressure measured (so we can work out top speed). /* track maximum differential pressure measured (so we can work out top speed). */
if (diff_press_pa > _max_differential_pressure_pa) { if (diff_press_pa > _max_differential_pressure_pa) {
_max_differential_pressure_pa = diff_press_pa; _max_differential_pressure_pa = diff_press_pa;
} }
@@ -392,7 +384,7 @@ test()
err(1, "immediate read failed"); err(1, "immediate read failed");
warnx("single read"); warnx("single read");
warnx("diff pressure: %d pa", report.differential_pressure_pa); warnx("diff pressure: %d pa", (double)report.differential_pressure_pa);
/* start the sensor polling at 2Hz */ /* start the sensor polling at 2Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2))