Merge branch 'paul_estimator_numeric' of github.com:PX4/Firmware into paul_estimator_numeric

8 files changed, 33 insertions, 11 deletions

diff --git a/src/drivers/ets_airspeed/ets_airspeed.cpp b/src/drivers/ets_airspeed/ets_airspeed.cpp
index d27ab9727..d873a1132 100644
--- a/src/drivers/ets_airspeed/ets_airspeed.cpp
+++ b/src/drivers/ets_airspeed/ets_airspeed.cpp
@@ -176,11 +176,14 @@ ETSAirspeed::collect()
 		_max_differential_pressure_pa = diff_pres_pa;
 	}
 
-	// XXX we may want to smooth out the readings to remove noise.
 	differential_pressure_s report;
 	report.timestamp = hrt_absolute_time();
         report.error_count = perf_event_count(_comms_errors);
 	report.differential_pressure_pa = (float)diff_pres_pa;
+
+	// XXX we may want to smooth out the readings to remove noise.
+	report.differential_pressure_filtered_pa = (float)diff_pres_pa;
+	report.temperature = -1000.0f;
 	report.voltage = 0;
 	report.max_differential_pressure_pa = _max_differential_pressure_pa;
 
diff --git a/src/drivers/meas_airspeed/meas_airspeed.cpp b/src/drivers/meas_airspeed/meas_airspeed.cpp
index beca28e7a..2c3efdc35 100644
--- a/src/drivers/meas_airspeed/meas_airspeed.cpp
+++ b/src/drivers/meas_airspeed/meas_airspeed.cpp
@@ -79,6 +79,8 @@
 #include <systemlib/param/param.h>
 #include <systemlib/perf_counter.h>
 
+#include <mathlib/math/filter/LowPassFilter2p.hpp>
+
 #include <drivers/drv_airspeed.h>
 #include <drivers/drv_hrt.h>
 
@@ -99,6 +101,8 @@
 #define ADDR_READ_MR			0x00	/* write to this address to start conversion */
 
 /* Measurement rate is 100Hz */
+#define MEAS_RATE 100.0f
+#define MEAS_DRIVER_FILTER_FREQ 3.0f
 #define CONVERSION_INTERVAL	(1000000 / 100)	/* microseconds */
 
 class MEASAirspeed : public Airspeed
@@ -116,6 +120,7 @@ protected:
 	virtual int	measure();
 	virtual int	collect();
 
+	math::LowPassFilter2p	_filter;
 };
 
 /*
@@ -124,7 +129,8 @@ protected:
 extern "C" __EXPORT int meas_airspeed_main(int argc, char *argv[]);
 
 MEASAirspeed::MEASAirspeed(int bus, int address, const char *path) : Airspeed(bus, address,
-			CONVERSION_INTERVAL, path)
+			CONVERSION_INTERVAL, path),
+			_filter(MEAS_RATE, MEAS_DRIVER_FILTER_FREQ)
 {
 
 }
@@ -212,6 +218,7 @@ MEASAirspeed::collect()
 	report.error_count = perf_event_count(_comms_errors);
 	report.temperature = temperature;
 	report.differential_pressure_pa = diff_press_pa;
+	report.differential_pressure_filtered_pa =  _filter.apply(diff_press_pa);
 	report.voltage = 0;
 	report.max_differential_pressure_pa = _max_differential_pressure_pa;
 
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 489d2bdcb..d7e300670 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -634,13 +634,15 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
 
 		hil_battery_status.timestamp = timestamp;
 		hil_battery_status.voltage_v = 11.1f;
+		hil_battery_status.voltage_filtered_v = 11.1f;
 		hil_battery_status.current_a = 10.0f;
+		hil_battery_status.discharged_mah = -1.0f;
 
 		if (_battery_pub > 0) {
 			orb_publish(ORB_ID(battery_status), _battery_pub, &hil_battery_status);
 
 		} else {
-			_baro_pub = orb_advertise(ORB_ID(battery_status), &hil_battery_status);
+			_battery_pub = orb_advertise(ORB_ID(battery_status), &hil_battery_status);
 		}
 	}
 
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index ee3ec7216..ad709d27d 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -1021,6 +1021,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 				log_msg.body.log_SENS.baro_alt = buf.sensor.baro_alt_meter;
 				log_msg.body.log_SENS.baro_temp = buf.sensor.baro_temp_celcius;
 				log_msg.body.log_SENS.diff_pres = buf.sensor.differential_pressure_pa;
+				log_msg.body.log_SENS.diff_pres_filtered = buf.sensor.differential_pressure_filtered_pa;
 				LOGBUFFER_WRITE_AND_COUNT(SENS);
 			}
 
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index e27518aa0..fe500ad5f 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -92,6 +92,7 @@ struct log_SENS_s {
 	float baro_alt;
 	float baro_temp;
 	float diff_pres;
+	float diff_pres_filtered;
 };
 
 /* --- LPOS - LOCAL POSITION --- */
@@ -306,7 +307,7 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(ATT, "fffffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate,GX,GY,GZ"),
 	LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"),
 	LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
-	LOG_FORMAT(SENS, "ffff", "BaroPres,BaroAlt,BaroTemp,DiffPres"),
+	LOG_FORMAT(SENS, "fffff", "BaroPres,BaroAlt,BaroTemp,DiffPres,DiffPresFilt"),
 	LOG_FORMAT(LPOS, "ffffffLLfBBB", "X,Y,Z,VX,VY,VZ,RefLat,RefLon,RefAlt,XYFlags,ZFlags,Landed"),
 	LOG_FORMAT(LPSP, "ffff", "X,Y,Z,Yaw"),
 	LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"),
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 12ed55480..f890c4c7f 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -1031,11 +1031,14 @@ Sensors::diff_pres_poll(struct sensor_combined_s &raw)
 
 		raw.differential_pressure_pa = _diff_pres.differential_pressure_pa;
 		raw.differential_pressure_timestamp = _diff_pres.timestamp;
+		raw.differential_pressure_filtered_pa = _diff_pres.differential_pressure_filtered_pa;
 
-		_airspeed.timestamp = hrt_absolute_time();
-		_airspeed.indicated_airspeed_m_s = calc_indicated_airspeed(_diff_pres.differential_pressure_pa);
-		_airspeed.true_airspeed_m_s = calc_true_airspeed(_diff_pres.differential_pressure_pa + raw.baro_pres_mbar * 1e2f,
-					      raw.baro_pres_mbar * 1e2f, raw.baro_temp_celcius - PCB_TEMP_ESTIMATE_DEG);
+		float air_temperature_celcius = (_diff_pres.temperature > -300.0f) ? _diff_pres.temperature : (raw.baro_temp_celcius - PCB_TEMP_ESTIMATE_DEG);
+
+		_airspeed.timestamp = _diff_pres.timestamp;
+		_airspeed.indicated_airspeed_m_s = calc_indicated_airspeed(_diff_pres.differential_pressure_filtered_pa);
+		_airspeed.true_airspeed_m_s = calc_true_airspeed(_diff_pres.differential_pressure_filtered_pa + raw.baro_pres_mbar * 1e2f,
+					      raw.baro_pres_mbar * 1e2f, air_temperature_celcius);
 
 		/* announce the airspeed if needed, just publish else */
 		if (_airspeed_pub > 0) {
@@ -1243,6 +1246,8 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
 
 						_diff_pres.timestamp = t;
 						_diff_pres.differential_pressure_pa = diff_pres_pa;
+						_diff_pres.differential_pressure_filtered_pa = diff_pres_pa;
+						_diff_pres.temperature = -1000.0f;
 						_diff_pres.voltage = voltage;
 
 						/* announce the airspeed if needed, just publish else */
diff --git a/src/modules/uORB/topics/differential_pressure.h b/src/modules/uORB/topics/differential_pressure.h
index 5d94d4288..ff88b04c6 100644
--- a/src/modules/uORB/topics/differential_pressure.h
+++ b/src/modules/uORB/topics/differential_pressure.h
@@ -54,10 +54,11 @@
 struct differential_pressure_s {
 	uint64_t	timestamp;			/**< microseconds since system boot, needed to integrate */
 	uint64_t	error_count;
-	float	differential_pressure_pa;	/**< Differential pressure reading */
-	float	max_differential_pressure_pa;	/**< Maximum differential pressure reading */
+	float	differential_pressure_pa;		/**< Differential pressure reading */
+	float	differential_pressure_filtered_pa;	/**< Low pass filtered differential pressure reading */
+	float	max_differential_pressure_pa;		/**< Maximum differential pressure reading */
 	float		voltage;			/**< Voltage from analog airspeed sensors (voltage divider already compensated) */
-	float		temperature;			/**< Temperature provided by sensor */
+	float		temperature;			/**< Temperature provided by sensor, -1000.0f if unknown */
 
 };
 
diff --git a/src/modules/uORB/topics/sensor_combined.h b/src/modules/uORB/topics/sensor_combined.h
index 628977656..fa3367de9 100644
--- a/src/modules/uORB/topics/sensor_combined.h
+++ b/src/modules/uORB/topics/sensor_combined.h
@@ -105,6 +105,8 @@ struct sensor_combined_s {
 
 	float differential_pressure_pa;				/**< Airspeed sensor differential pressure                  */
 	uint64_t differential_pressure_timestamp;		/**< Last measurement timestamp */
+	float differential_pressure_filtered_pa;	/**< Low pass filtered airspeed sensor differential pressure reading */
+
 };
 
 /**