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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-28 14:34:49 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-28 14:34:49 +0200 |
| commit | b7ee1d34294b536c6a92c8e72455f24684a5db4f (patch) | |
| tree | ed3860d958b493b6448f43838bfa0868cf2877fc | |
| parent | b7875f4d0f3b0b16d17586fdaf721e93de61e15f (diff) | |
| download | px4-firmware-b7ee1d34294b536c6a92c8e72455f24684a5db4f.tar.gz px4-firmware-b7ee1d34294b536c6a92c8e72455f24684a5db4f.tar.bz2 px4-firmware-b7ee1d34294b536c6a92c8e72455f24684a5db4f.zip | |
Prevented an analog airspeed corner case from happening
| -rw-r--r-- | src/modules/sensors/sensor_params.c | 3 | ||||
| -rw-r--r-- | src/modules/sensors/sensors.cpp | 9 |
2 files changed, 9 insertions, 3 deletions
diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index fd2a6318e..16bfc8094 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -68,7 +68,8 @@ PARAM_DEFINE_FLOAT(SENS_ACC_XSCALE, 1.0f); PARAM_DEFINE_FLOAT(SENS_ACC_YSCALE, 1.0f); PARAM_DEFINE_FLOAT(SENS_ACC_ZSCALE, 1.0f); -PARAM_DEFINE_FLOAT(SENS_DPRES_OFF, 0); +PARAM_DEFINE_FLOAT(SENS_DPRES_OFF, 0.0f); +PARAM_DEFINE_INT32(SENS_DPRES_ANA, 0); PARAM_DEFINE_INT32(SENS_BOARD_ROT, 0); PARAM_DEFINE_INT32(SENS_EXT_MAG_ROT, 0); diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index a9c49c441..88a6bebb8 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -301,6 +301,7 @@ private: float accel_offset[3]; float accel_scale[3]; float diff_pres_offset_pa; + float diff_pres_analog_enabled; int board_rotation; int external_mag_rotation; @@ -348,6 +349,7 @@ private: param_t mag_offset[3]; param_t mag_scale[3]; param_t diff_pres_offset_pa; + param_t diff_pres_analog_enabled; param_t rc_map_roll; param_t rc_map_pitch; @@ -617,6 +619,7 @@ Sensors::Sensors() : /* Differential pressure offset */ _parameter_handles.diff_pres_offset_pa = param_find("SENS_DPRES_OFF"); + _parameter_handles.diff_pres_analog_enabled = param_find("SENS_DPRES_ANA"); _parameter_handles.battery_voltage_scaling = param_find("BAT_V_SCALING"); @@ -784,6 +787,7 @@ Sensors::parameters_update() /* Airspeed offset */ param_get(_parameter_handles.diff_pres_offset_pa, &(_parameters.diff_pres_offset_pa)); + param_get(_parameter_handles.diff_pres_analog_enabled, &(_parameters.diff_pres_analog_enabled)); /* scaling of ADC ticks to battery voltage */ if (param_get(_parameter_handles.battery_voltage_scaling, &(_parameters.battery_voltage_scaling)) != OK) { @@ -1266,9 +1270,10 @@ Sensors::adc_poll(struct sensor_combined_s &raw) /** * The voltage divider pulls the signal down, only act on - * a valid voltage from a connected sensor + * a valid voltage from a connected sensor. Also assume a non- + * zero offset from the sensor if its connected. */ - if (voltage > 0.4f) { + if (voltage > 0.4f && _parameters.diff_pres_analog_enabled) { float diff_pres_pa = voltage * 1000.0f - _parameters.diff_pres_offset_pa; //for MPXV7002DP sensor |