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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-24 11:49:45 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-24 11:49:45 +0200 |
commit | 127948f32f24e36c0c03a047b57fcd64287d9967 (patch) | |
tree | 3e2dab0acd59f0c619dacdb264003d464d39d797 /src/drivers | |
parent | e09bc02c37d5e36a3c7d3feffca83e9ddfe1ed79 (diff) | |
download | px4-firmware-127948f32f24e36c0c03a047b57fcd64287d9967.tar.gz px4-firmware-127948f32f24e36c0c03a047b57fcd64287d9967.tar.bz2 px4-firmware-127948f32f24e36c0c03a047b57fcd64287d9967.zip |
Remove absolute pressure field as its not useful and confusing anywary
Diffstat (limited to 'src/drivers')
-rw-r--r-- | src/drivers/ets_airspeed/ets_airspeed.cpp | 20 | ||||
-rw-r--r-- | src/drivers/meas_airspeed/meas_airspeed.cpp | 22 |
2 files changed, 11 insertions, 31 deletions
diff --git a/src/drivers/ets_airspeed/ets_airspeed.cpp b/src/drivers/ets_airspeed/ets_airspeed.cpp index f98d615a2..0f77bb805 100644 --- a/src/drivers/ets_airspeed/ets_airspeed.cpp +++ b/src/drivers/ets_airspeed/ets_airspeed.cpp @@ -155,7 +155,6 @@ ETSAirspeed::collect() } uint16_t diff_pres_pa_raw = val[1] << 8 | val[0]; - uint16_t diff_pres_pa; if (diff_pres_pa_raw == 0) { // a zero value means the pressure sensor cannot give us a // value. We need to return, and not report a value or the @@ -166,28 +165,21 @@ ETSAirspeed::collect() return -1; } - if (diff_pres_pa_raw < _diff_pres_offset + MIN_ACCURATE_DIFF_PRES_PA) { - diff_pres_pa = 0; - } else { - 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; + if (diff_pres_pa_raw > _max_differential_pressure_pa) { + _max_differential_pressure_pa = diff_pres_pa_raw; } 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.differential_pressure_raw_pa = (float)diff_pres_pa_raw; + report.differential_pressure_filtered_pa = diff_pres_pa_raw; + report.differential_pressure_raw_pa = diff_pres_pa_raw; report.temperature = -1000.0f; report.max_differential_pressure_pa = _max_differential_pressure_pa; @@ -369,7 +361,7 @@ test() err(1, "immediate read failed"); warnx("single read"); - warnx("diff pressure: %f pa", (double)report.differential_pressure_pa); + warnx("diff pressure: %f pa", (double)report.differential_pressure_filtered_pa); /* start the sensor polling at 2Hz */ if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) @@ -394,7 +386,7 @@ test() err(1, "periodic read failed"); warnx("periodic read %u", i); - warnx("diff pressure: %f pa", (double)report.differential_pressure_pa); + warnx("diff pressure: %f pa", (double)report.differential_pressure_filtered_pa); } /* reset the sensor polling to its default rate */ diff --git a/src/drivers/meas_airspeed/meas_airspeed.cpp b/src/drivers/meas_airspeed/meas_airspeed.cpp index 479fa3ccf..1d9a463ad 100644 --- a/src/drivers/meas_airspeed/meas_airspeed.cpp +++ b/src/drivers/meas_airspeed/meas_airspeed.cpp @@ -228,18 +228,7 @@ MEASAirspeed::collect() // the raw value still should be compensated for the known offset diff_press_pa_raw -= _diff_pres_offset; - /* don't take the absolute value because the calibration takes this into account and warns the user if the - * tubes are connected backwards */ - float diff_press_pa = diff_press_pa_raw; - /* - note that we return both the absolute value with offset - applied and a raw value without the offset applied. This - makes it possible for higher level code to detect if the - user has the tubes connected backwards, and also makes it - possible to correctly use offsets calculated by a higher - level airspeed driver. - With the above calculation the MS4525 sensor will produce a positive number when the top port is used as a dynamic port and bottom port is used as the static port @@ -248,15 +237,14 @@ MEASAirspeed::collect() struct differential_pressure_s report; /* track maximum differential pressure measured (so we can work out top speed). */ - if (diff_press_pa > _max_differential_pressure_pa) { - _max_differential_pressure_pa = diff_press_pa; + if (diff_press_pa_raw > _max_differential_pressure_pa) { + _max_differential_pressure_pa = diff_press_pa_raw; } report.timestamp = hrt_absolute_time(); 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.differential_pressure_filtered_pa = _filter.apply(diff_press_pa_raw); report.differential_pressure_raw_pa = diff_press_pa_raw; report.max_differential_pressure_pa = _max_differential_pressure_pa; @@ -514,7 +502,7 @@ test() } warnx("single read"); - warnx("diff pressure: %d pa", (int)report.differential_pressure_pa); + warnx("diff pressure: %d pa", (int)report.differential_pressure_filtered_pa); /* start the sensor polling at 2Hz */ if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) { @@ -542,7 +530,7 @@ test() } warnx("periodic read %u", i); - warnx("diff pressure: %d pa", (int)report.differential_pressure_pa); + warnx("diff pressure: %d pa", (int)report.differential_pressure_filtered_pa); warnx("temperature: %d C (0x%02x)", (int)report.temperature, (unsigned) report.temperature); } |