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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-11 22:09:47 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-11 22:09:47 +0200 |
| commit | e3afb669cae54b042f453605601fed861c52ee45 (patch) | |
| tree | df309c4b4c8114bb642a233fc886dea610ddb03a | |
| parent | 899657613e44f0d4bbdb66644b35420d7381ff99 (diff) | |
| download | px4-firmware-e3afb669cae54b042f453605601fed861c52ee45.tar.gz px4-firmware-e3afb669cae54b042f453605601fed861c52ee45.tar.bz2 px4-firmware-e3afb669cae54b042f453605601fed861c52ee45.zip | |
sensors: Fix usage of offset for measurements
| -rw-r--r-- | src/modules/sensors/sensor_params.c | 2 | ||||
| -rw-r--r-- | src/modules/sensors/sensors.cpp | 6 |
2 files changed, 4 insertions, 4 deletions
diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index 6b90a1239..8f6e7abe6 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -205,7 +205,7 @@ PARAM_DEFINE_FLOAT(SENS_DPRES_OFF, 0.0f); * * Pick the appropriate scaling from the datasheet. * this number defines the (linear) conversion from voltage - * to Pascal (pa). + * to Pascal (pa). For the MPXV7002DP this is 1000. * * @group Sensor Calibration */ diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 0cad0c0e5..cda79693d 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -1330,12 +1330,12 @@ Sensors::adc_poll(struct sensor_combined_s &raw) * a valid voltage from a connected sensor. Also assume a non- * zero offset from the sensor if its connected. */ - if (voltage > 0.4f && (_parameters.diff_pres_analog_scale > 0)) { + if (voltage > 0.4f && (_parameters.diff_pres_analog_scale > 0.0f)) { - float diff_pres_pa = voltage * _parameters.diff_pres_analog_scale; + float diff_pres_pa = voltage * _parameters.diff_pres_analog_scale - _parameters.diff_pres_offset_pa; _diff_pres.timestamp = t; - _diff_pres.differential_pressure_pa = diff_pres_pa - _parameters.diff_pres_offset_pa; + _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.temperature = -1000.0f; |