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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-12 00:17:50 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-12 00:17:50 +0200 |
| commit | 2fa4434a03abe057e65a5c8ba29f8cd9cd75ca93 (patch) | |
| tree | 8fd874a36d165ef11d8baf6b2c56d950086c4f15 | |
| parent | e3afb669cae54b042f453605601fed861c52ee45 (diff) | |
| download | px4-firmware-2fa4434a03abe057e65a5c8ba29f8cd9cd75ca93.tar.gz px4-firmware-2fa4434a03abe057e65a5c8ba29f8cd9cd75ca93.tar.bz2 px4-firmware-2fa4434a03abe057e65a5c8ba29f8cd9cd75ca93.zip | |
Limit output of driver to positive range
| -rw-r--r-- | src/modules/sensors/sensors.cpp | 8 |
1 files changed, 5 insertions, 3 deletions
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index cda79693d..1ffd7f02f 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -501,6 +501,7 @@ Sensors::Sensors() : _battery_current_timestamp(0) { memset(&_rc, 0, sizeof(_rc)); + memset(&_diff_pres, 0, sizeof(_diff_pres)); /* basic r/c parameters */ for (unsigned i = 0; i < _rc_max_chan_count; i++) { @@ -1332,12 +1333,13 @@ Sensors::adc_poll(struct sensor_combined_s &raw) */ if (voltage > 0.4f && (_parameters.diff_pres_analog_scale > 0.0f)) { - float diff_pres_pa = voltage * _parameters.diff_pres_analog_scale - _parameters.diff_pres_offset_pa; + float diff_pres_pa_raw = voltage * _parameters.diff_pres_analog_scale - _parameters.diff_pres_offset_pa; + float diff_pres_pa = (diff_pres_pa_raw > 0.0f) ? diff_pres_pa_raw : 0.0f; _diff_pres.timestamp = t; _diff_pres.differential_pressure_pa = diff_pres_pa; - _diff_pres.differential_pressure_raw_pa = diff_pres_pa; - _diff_pres.differential_pressure_filtered_pa = diff_pres_pa; + _diff_pres.differential_pressure_raw_pa = diff_pres_pa_raw; + _diff_pres.differential_pressure_filtered_pa = (_diff_pres.differential_pressure_filtered_pa * 0.9f) + (diff_pres_pa * 0.1f); _diff_pres.temperature = -1000.0f; /* announce the airspeed if needed, just publish else */ |