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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-14 08:33:35 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-14 08:33:35 +0200 |
| commit | f3549d775cb049bcde93c3e860c3adbad3763364 (patch) | |
| tree | 06d6759659cb75d4966a44592b7acc1368cedd5a | |
| parent | 9ce7820e419d2ffa379fb7a3cc168f500623fa3d (diff) | |
| download | px4-firmware-f3549d775cb049bcde93c3e860c3adbad3763364.tar.gz px4-firmware-f3549d775cb049bcde93c3e860c3adbad3763364.tar.bz2 px4-firmware-f3549d775cb049bcde93c3e860c3adbad3763364.zip | |
Airspeed driver: Use the known sensor offset for raw value as well
| -rw-r--r-- | src/drivers/ets_airspeed/ets_airspeed.cpp | 3 | ||||
| -rw-r--r-- | src/drivers/meas_airspeed/meas_airspeed.cpp | 5 |
2 files changed, 7 insertions, 1 deletions
diff --git a/src/drivers/ets_airspeed/ets_airspeed.cpp b/src/drivers/ets_airspeed/ets_airspeed.cpp index d1a9fa57c..c15a0cee4 100644 --- a/src/drivers/ets_airspeed/ets_airspeed.cpp +++ b/src/drivers/ets_airspeed/ets_airspeed.cpp @@ -172,6 +172,9 @@ ETSAirspeed::collect() diff_pres_pa = diff_pres_pa_raw - _diff_pres_offset; } + // 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 > _max_differential_pressure_pa) { _max_differential_pressure_pa = diff_pres_pa; diff --git a/src/drivers/meas_airspeed/meas_airspeed.cpp b/src/drivers/meas_airspeed/meas_airspeed.cpp index 7763f1057..07611f903 100644 --- a/src/drivers/meas_airspeed/meas_airspeed.cpp +++ b/src/drivers/meas_airspeed/meas_airspeed.cpp @@ -225,7 +225,10 @@ MEASAirspeed::collect() // correct for 5V rail voltage if possible voltage_correction(diff_press_pa_raw, temperature); - float diff_press_pa = fabsf(diff_press_pa_raw - _diff_pres_offset); + // the raw value still should be compensated for the known offset + diff_press_pa_raw -= _diff_pres_offset; + + float diff_press_pa = fabsf(diff_press_pa_raw); /* note that we return both the absolute value with offset |