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author | Simon Wilks <sjwilks@gmail.com> | 2013-04-19 18:28:06 +0200 |
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committer | Simon Wilks <sjwilks@gmail.com> | 2013-04-19 18:28:06 +0200 |
commit | 696e48fbf38de9d0ac12494cb2749ba3b04f852f (patch) | |
tree | 1ba465b2c55dd7bcd2f22172addd42cef734f94d /apps | |
parent | df6976c8d640b395220d46f5b1fd7ecfc8ae3e04 (diff) | |
download | px4-firmware-696e48fbf38de9d0ac12494cb2749ba3b04f852f.tar.gz px4-firmware-696e48fbf38de9d0ac12494cb2749ba3b04f852f.tar.bz2 px4-firmware-696e48fbf38de9d0ac12494cb2749ba3b04f852f.zip |
Cleanup variable names and such
Diffstat (limited to 'apps')
-rw-r--r-- | apps/commander/commander.c | 30 | ||||
-rw-r--r-- | apps/drivers/ets_airspeed/ets_airspeed.cpp | 8 | ||||
-rw-r--r-- | apps/sdlog/sdlog.c | 12 | ||||
-rw-r--r-- | apps/sensors/sensor_params.c | 2 | ||||
-rw-r--r-- | apps/sensors/sensors.cpp | 40 | ||||
-rw-r--r-- | apps/uORB/topics/sensor_combined.h | 2 |
6 files changed, 47 insertions, 47 deletions
diff --git a/apps/commander/commander.c b/apps/commander/commander.c index fcfffcfef..2980ab118 100644 --- a/apps/commander/commander.c +++ b/apps/commander/commander.c @@ -797,8 +797,8 @@ void do_airspeed_calibration(int status_pub, struct vehicle_status_s *status) const int calibration_count = 2500; - int sub_differential_pressure = orb_subscribe(ORB_ID(differential_pressure)); - struct differential_pressure_s differential_pressure; + int diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure)); + struct differential_pressure_s diff_pres; int calibration_counter = 0; float diff_pres_offset = 0.0f; @@ -806,13 +806,13 @@ void do_airspeed_calibration(int status_pub, struct vehicle_status_s *status) while (calibration_counter < calibration_count) { /* wait blocking for new data */ - struct pollfd fds[1] = { { .fd = sub_differential_pressure, .events = POLLIN } }; + struct pollfd fds[1] = { { .fd = diff_pres_sub, .events = POLLIN } }; int poll_ret = poll(fds, 1, 1000); if (poll_ret) { - orb_copy(ORB_ID(differential_pressure), sub_differential_pressure, &differential_pressure); - diff_pres_offset += differential_pressure.differential_pressure_pa; + orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres); + diff_pres_offset += diff_pres.differential_pressure_pa; calibration_counter++; } else if (poll_ret == 0) { @@ -826,7 +826,7 @@ void do_airspeed_calibration(int status_pub, struct vehicle_status_s *status) if (isfinite(diff_pres_offset)) { - if (param_set(param_find("SENS_VAIR_OFF"), &(diff_pres_offset))) { + if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) { mavlink_log_critical(mavlink_fd, "Setting offs failed!"); } @@ -856,7 +856,7 @@ void do_airspeed_calibration(int status_pub, struct vehicle_status_s *status) status->flag_preflight_airspeed_calibration = false; state_machine_publish(status_pub, status, mavlink_fd); - close(sub_differential_pressure); + close(diff_pres_sub); } @@ -1477,10 +1477,10 @@ int commander_thread_main(int argc, char *argv[]) struct sensor_combined_s sensors; memset(&sensors, 0, sizeof(sensors)); - int differential_pressure_sub = orb_subscribe(ORB_ID(differential_pressure)); - struct differential_pressure_s differential_pressure; - memset(&differential_pressure, 0, sizeof(differential_pressure)); - uint64_t last_differential_pressure_time = 0; + int diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure)); + struct differential_pressure_s diff_pres; + memset(&diff_pres, 0, sizeof(diff_pres)); + uint64_t last_diff_pres_time = 0; /* Subscribe to command topic */ int cmd_sub = orb_subscribe(ORB_ID(vehicle_command)); @@ -1535,11 +1535,11 @@ int commander_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensors); } - orb_check(differential_pressure_sub, &new_data); + orb_check(diff_pres_sub, &new_data); if (new_data) { - orb_copy(ORB_ID(differential_pressure), differential_pressure_sub, &differential_pressure); - last_differential_pressure_time = differential_pressure.timestamp; + orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres); + last_diff_pres_time = diff_pres.timestamp; } orb_check(cmd_sub, &new_data); @@ -1754,7 +1754,7 @@ int commander_thread_main(int argc, char *argv[]) } /* Check for valid airspeed/differential pressure measurements */ - if (hrt_absolute_time() - last_differential_pressure_time < 2000000) { + if (hrt_absolute_time() - last_diff_pres_time < 2000000) { current_status.flag_airspeed_valid = true; } else { diff --git a/apps/drivers/ets_airspeed/ets_airspeed.cpp b/apps/drivers/ets_airspeed/ets_airspeed.cpp index 860baa760..943848d43 100644 --- a/apps/drivers/ets_airspeed/ets_airspeed.cpp +++ b/apps/drivers/ets_airspeed/ets_airspeed.cpp @@ -121,7 +121,7 @@ private: bool _sensor_ok; int _measure_ticks; bool _collect_phase; - int _differential_pressure_offset; + int _diff_pres_offset; orb_advert_t _airspeed_pub; @@ -191,7 +191,7 @@ ETS_AIRSPEED::ETS_AIRSPEED(int bus, int address) : _sample_perf(perf_alloc(PC_ELAPSED, "ETS_AIRSPEED_read")), _comms_errors(perf_alloc(PC_COUNT, "ETS_AIRSPEED_comms_errors")), _buffer_overflows(perf_alloc(PC_COUNT, "ETS_AIRSPEED_buffer_overflows")), - _differential_pressure_offset(0) + _diff_pres_offset(0) { // enable debug() calls _debug_enabled = true; @@ -235,7 +235,7 @@ ETS_AIRSPEED::init() if (_airspeed_pub < 0) debug("failed to create airspeed sensor object. Did you start uOrb?"); - param_get(param_find("SENS_VAIR_OFF"), &_differential_pressure_offset); + param_get(param_find("SENS_DPRES_OFF"), &_diff_pres_offset); ret = OK; /* sensor is ok, but we don't really know if it is within range */ @@ -455,7 +455,7 @@ ETS_AIRSPEED::collect() uint16_t diff_pres_pa = val[1] << 8 | val[0]; /* adjust if necessary */ - diff_pres_pa -= _differential_pressure_offset; + diff_pres_pa -= _diff_pres_offset; //log("measurement: %0.2f m/s", calc_indicated_airspeed((float)_reports[_next_report].diff_pressure)); _reports[_next_report].timestamp = hrt_absolute_time(); diff --git a/apps/sdlog/sdlog.c b/apps/sdlog/sdlog.c index 46b232c34..84a9eb6ac 100644 --- a/apps/sdlog/sdlog.c +++ b/apps/sdlog/sdlog.c @@ -444,7 +444,7 @@ int sdlog_thread_main(int argc, char *argv[]) struct vehicle_vicon_position_s vicon_pos; struct optical_flow_s flow; struct battery_status_s batt; - struct differential_pressure_s diff_pressure; + struct differential_pressure_s diff_pres; struct airspeed_s airspeed; } buf; memset(&buf, 0, sizeof(buf)); @@ -463,7 +463,7 @@ int sdlog_thread_main(int argc, char *argv[]) int vicon_pos_sub; int flow_sub; int batt_sub; - int diff_pressure_sub; + int diff_pres_sub; int airspeed_sub; } subs; @@ -561,8 +561,8 @@ int sdlog_thread_main(int argc, char *argv[]) /* --- DIFFERENTIAL PRESSURE --- */ /* subscribe to ORB for flow measurements */ - subs.diff_pressure_sub = orb_subscribe(ORB_ID(differential_pressure)); - fds[fdsc_count].fd = subs.diff_pressure_sub; + subs.diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure)); + fds[fdsc_count].fd = subs.diff_pres_sub; fds[fdsc_count].events = POLLIN; fdsc_count++; @@ -664,7 +664,7 @@ int sdlog_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att); orb_copy(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos); orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow); - orb_copy(ORB_ID(differential_pressure), subs.diff_pressure_sub, &buf.diff_pressure); + orb_copy(ORB_ID(differential_pressure), subs.diff_pres_sub, &buf.diff_pres); orb_copy(ORB_ID(airspeed), subs.airspeed_sub, &buf.airspeed); orb_copy(ORB_ID(battery_status), subs.batt_sub, &buf.batt); @@ -702,7 +702,7 @@ int sdlog_thread_main(int argc, char *argv[]) .vicon = {buf.vicon_pos.x, buf.vicon_pos.y, buf.vicon_pos.z, buf.vicon_pos.roll, buf.vicon_pos.pitch, buf.vicon_pos.yaw}, .control_effective = {buf.act_controls_effective.control_effective[0], buf.act_controls_effective.control_effective[1], buf.act_controls_effective.control_effective[2], buf.act_controls_effective.control_effective[3]}, .flow = {buf.flow.flow_raw_x, buf.flow.flow_raw_y, buf.flow.flow_comp_x_m, buf.flow.flow_comp_y_m, buf.flow.ground_distance_m, buf.flow.quality}, - .diff_pressure = buf.diff_pressure.differential_pressure_pa, + .diff_pressure = buf.diff_pres.differential_pressure_pa, .ind_airspeed = buf.airspeed.indicated_airspeed_m_s, .true_airspeed = buf.airspeed.true_airspeed_m_s }; diff --git a/apps/sensors/sensor_params.c b/apps/sensors/sensor_params.c index a1ef9d136..da2dfcca6 100644 --- a/apps/sensors/sensor_params.c +++ b/apps/sensors/sensor_params.c @@ -64,7 +64,7 @@ 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_VAIR_OFF, 2.5f); +PARAM_DEFINE_FLOAT(SENS_DPRES_OFF, 2.5f); PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f); PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f); diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp index 2cf3b92ef..ab8818b40 100644 --- a/apps/sensors/sensors.cpp +++ b/apps/sensors/sensors.cpp @@ -158,7 +158,7 @@ private: int _rc_sub; /**< raw rc channels data subscription */ int _baro_sub; /**< raw baro data subscription */ int _airspeed_sub; /**< airspeed subscription */ - int _differential_pressure_sub; /**< raw differential pressure subscription */ + int _diff_pres_sub; /**< raw differential pressure subscription */ int _vstatus_sub; /**< vehicle status subscription */ int _params_sub; /**< notification of parameter updates */ int _manual_control_sub; /**< notification of manual control updates */ @@ -168,14 +168,14 @@ private: orb_advert_t _rc_pub; /**< raw r/c control topic */ orb_advert_t _battery_pub; /**< battery status */ orb_advert_t _airspeed_pub; /**< airspeed */ - orb_advert_t _differential_pressure_pub; /**< differential_pressure */ + orb_advert_t _diff_pres_pub; /**< differential_pressure */ perf_counter_t _loop_perf; /**< loop performance counter */ struct rc_channels_s _rc; /**< r/c channel data */ struct battery_status_s _battery_status; /**< battery status */ struct baro_report _barometer; /**< barometer data */ - struct differential_pressure_s _differential_pressure; + struct differential_pressure_s _diff_pres; struct airspeed_s _airspeed; struct { @@ -341,7 +341,7 @@ private: * @param raw Combined sensor data structure into which * data should be returned. */ - void differential_pressure_poll(struct sensor_combined_s &raw); + void diff_pres_poll(struct sensor_combined_s &raw); /** * Check for changes in vehicle status. @@ -411,7 +411,7 @@ Sensors::Sensors() : _rc_pub(-1), _battery_pub(-1), _airspeed_pub(-1), - _differential_pressure_pub(-1), + _diff_pres_pub(-1), /* performance counters */ _loop_perf(perf_alloc(PC_ELAPSED, "sensor task update")) @@ -496,8 +496,8 @@ Sensors::Sensors() : _parameter_handles.mag_scale[1] = param_find("SENS_MAG_YSCALE"); _parameter_handles.mag_scale[2] = param_find("SENS_MAG_ZSCALE"); - /*Airspeed offset */ - _parameter_handles.airspeed_offset = param_find("SENS_VAIR_OFF"); + /* Differential pressure offset */ + _parameter_handles.airspeed_offset = param_find("SENS_DPRES_OFF"); _parameter_handles.battery_voltage_scaling = param_find("BAT_V_SCALING"); @@ -902,22 +902,22 @@ Sensors::baro_poll(struct sensor_combined_s &raw) } void -Sensors::differential_pressure_poll(struct sensor_combined_s &raw) +Sensors::diff_pres_poll(struct sensor_combined_s &raw) { bool updated; - orb_check(_differential_pressure_sub, &updated); + orb_check(_diff_pres_sub, &updated); if (updated) { - orb_copy(ORB_ID(differential_pressure), _differential_pressure_sub, &_differential_pressure); + orb_copy(ORB_ID(differential_pressure), _diff_pres_sub, &_diff_pres); - float airspeed_true = calc_true_airspeed(_differential_pressure.differential_pressure_pa + raw.baro_pres_mbar*1e2f, + float airspeed_true = calc_true_airspeed(_diff_pres.differential_pressure_pa + raw.baro_pres_mbar*1e2f, raw.baro_pres_mbar*1e2f, raw.baro_temp_celcius - 5.0f); //factor 1e2 for conversion from mBar to Pa // XXX HACK - true temperature is much less than indicated temperature in baro, // subtract 5 degrees in an attempt to account for the electrical upheating of the PCB - float airspeed_indicated = calc_indicated_airspeed(_differential_pressure.differential_pressure_pa); + float airspeed_indicated = calc_indicated_airspeed(_diff_pres.differential_pressure_pa); - raw.differential_pressure_pa = _differential_pressure.differential_pressure_pa; + raw.differential_pressure_pa = _diff_pres.differential_pressure_pa; raw.differential_pressure_counter++; } } @@ -1082,16 +1082,16 @@ Sensors::adc_poll(struct sensor_combined_s &raw) float diff_pres_pa = voltage * 1000.0f - _parameters.airspeed_offset; //for MPXV7002DP sensor - _differential_pressure.timestamp = hrt_absolute_time(); - _differential_pressure.differential_pressure_pa = diff_pres_pa; - _differential_pressure.voltage = voltage; + _diff_pres.timestamp = hrt_absolute_time(); + _diff_pres.differential_pressure_pa = diff_pres_pa; + _diff_pres.voltage = voltage; /* announce the airspeed if needed, just publish else */ - if (_differential_pressure_pub > 0) { - orb_publish(ORB_ID(differential_pressure), _differential_pressure_pub, &_differential_pressure); + if (_diff_pres_pub > 0) { + orb_publish(ORB_ID(differential_pressure), _diff_pres_pub, &_diff_pres); } else { - _differential_pressure_pub = orb_advertise(ORB_ID(differential_pressure), &_differential_pressure); + _diff_pres_pub = orb_advertise(ORB_ID(differential_pressure), &_diff_pres); } } } @@ -1356,7 +1356,7 @@ Sensors::task_main() gyro_poll(raw); mag_poll(raw); baro_poll(raw); - differential_pressure_poll(raw); + diff_pres_poll(raw); parameter_update_poll(true /* forced */); diff --git a/apps/uORB/topics/sensor_combined.h b/apps/uORB/topics/sensor_combined.h index ad88e4b6e..9a76b5182 100644 --- a/apps/uORB/topics/sensor_combined.h +++ b/apps/uORB/topics/sensor_combined.h @@ -103,7 +103,7 @@ struct sensor_combined_s { float mcu_temp_celcius; /**< Internal temperature measurement of MCU */ uint32_t baro_counter; /**< Number of raw baro measurements taken */ - float differential_pressure_pa; /**< Airspeed sensor differential pressure */ + float differential_pressure_pa; /**< Airspeed sensor differential pressure */ uint32_t differential_pressure_counter; /**< Number of raw differential pressure measurements taken */ }; |