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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-03-14 01:13:22 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-03-14 01:13:22 +0100 |
| commit | 0784ef918925a546e0e4294571859150f0789561 (patch) | |
| tree | 06a63f4d17a22f0ed872d318e6c21ddb3866d34c /src/drivers/meas_airspeed/meas_airspeed.cpp | |
| parent | b6a087e92183ef9cca513357919b96ea2812d298 (diff) | |
| download | px4-firmware-0784ef918925a546e0e4294571859150f0789561.tar.gz px4-firmware-0784ef918925a546e0e4294571859150f0789561.tar.bz2 px4-firmware-0784ef918925a546e0e4294571859150f0789561.zip | |
add low pass filter to meas airspeed driver including logging of filtered value
Diffstat (limited to 'src/drivers/meas_airspeed/meas_airspeed.cpp')
| -rw-r--r-- | src/drivers/meas_airspeed/meas_airspeed.cpp | 9 |
1 files changed, 8 insertions, 1 deletions
diff --git a/src/drivers/meas_airspeed/meas_airspeed.cpp b/src/drivers/meas_airspeed/meas_airspeed.cpp index 06d89abf7..39ee1e882 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) { } @@ -208,6 +214,7 @@ 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; |