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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-24 16:26:42 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-24 16:26:42 +0200 |
| commit | e52f7770be443301a40ee6df40498c64083b4884 (patch) | |
| tree | 4ce8013d008e2e78cbca76fba72813bc4f918c02 /src/modules/sensors/sensors.cpp | |
| parent | bdccd69030e56381d906afeabc8305dbe18e2de6 (diff) | |
| parent | 3454c42596d8c0c1bec59dec87f4a53910f83731 (diff) | |
| download | px4-firmware-e52f7770be443301a40ee6df40498c64083b4884.tar.gz px4-firmware-e52f7770be443301a40ee6df40498c64083b4884.tar.bz2 px4-firmware-e52f7770be443301a40ee6df40498c64083b4884.zip | |
Merge remote-tracking branch 'upstream/master' into obcfailsafe
Diffstat (limited to 'src/modules/sensors/sensors.cpp')
| -rw-r--r-- | src/modules/sensors/sensors.cpp | 14 |
1 files changed, 7 insertions, 7 deletions
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index f40034d79..cdcb428dd 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -1229,16 +1229,18 @@ Sensors::diff_pres_poll(struct sensor_combined_s &raw) if (updated) { orb_copy(ORB_ID(differential_pressure), _diff_pres_sub, &_diff_pres); - raw.differential_pressure_pa = _diff_pres.differential_pressure_pa; + raw.differential_pressure_pa = _diff_pres.differential_pressure_raw_pa; raw.differential_pressure_timestamp = _diff_pres.timestamp; raw.differential_pressure_filtered_pa = _diff_pres.differential_pressure_filtered_pa; float air_temperature_celsius = (_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_celsius); + + /* don't risk to feed negative airspeed into the system */ + _airspeed.indicated_airspeed_m_s = math::max(0.0f, calc_indicated_airspeed(_diff_pres.differential_pressure_filtered_pa)); + _airspeed.true_airspeed_m_s = math::max(0.0f, calc_true_airspeed(_diff_pres.differential_pressure_filtered_pa + raw.baro_pres_mbar * 1e2f, + raw.baro_pres_mbar * 1e2f, air_temperature_celsius)); _airspeed.air_temperature_celsius = air_temperature_celsius; /* announce the airspeed if needed, just publish else */ @@ -1457,12 +1459,10 @@ Sensors::adc_poll(struct sensor_combined_s &raw) if (voltage > 0.4f && (_parameters.diff_pres_analog_scale > 0.0f)) { float diff_pres_pa_raw = voltage * _parameters.diff_pres_analog_scale - _parameters.diff_pres_offset_pa; - float diff_pres_pa = (diff_pres_pa_raw > 0.0f) ? diff_pres_pa_raw : 0.0f; _diff_pres.timestamp = t; - _diff_pres.differential_pressure_pa = diff_pres_pa; _diff_pres.differential_pressure_raw_pa = diff_pres_pa_raw; - _diff_pres.differential_pressure_filtered_pa = (_diff_pres.differential_pressure_filtered_pa * 0.9f) + (diff_pres_pa * 0.1f); + _diff_pres.differential_pressure_filtered_pa = (_diff_pres.differential_pressure_filtered_pa * 0.9f) + (diff_pres_pa_raw * 0.1f); _diff_pres.temperature = -1000.0f; /* announce the airspeed if needed, just publish else */ |