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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-03-23 16:58:17 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-03-23 16:58:17 +0100 |
| commit | a0ceeee9ef9988fa470524462e3097e52c63ed8f (patch) | |
| tree | 2d8863c0c561b740d8c5f5b02a1cc77fef401e93 /src/modules/sensors/sensors.cpp | |
| parent | a490bd04eefc795b63e13d867fc8844f5b438d6e (diff) | |
| parent | 5113b4a365216987ca2f95b986538f3d3de8734f (diff) | |
| download | px4-firmware-a0ceeee9ef9988fa470524462e3097e52c63ed8f.tar.gz px4-firmware-a0ceeee9ef9988fa470524462e3097e52c63ed8f.tar.bz2 px4-firmware-a0ceeee9ef9988fa470524462e3097e52c63ed8f.zip | |
Merge branch 'airspeed_filter_fixes' into paul_estimator_numeric
Diffstat (limited to 'src/modules/sensors/sensors.cpp')
| -rw-r--r-- | src/modules/sensors/sensors.cpp | 6 |
1 files changed, 5 insertions, 1 deletions
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index ebaa6b3aa..f890c4c7f 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -1033,10 +1033,12 @@ Sensors::diff_pres_poll(struct sensor_combined_s &raw) raw.differential_pressure_timestamp = _diff_pres.timestamp; raw.differential_pressure_filtered_pa = _diff_pres.differential_pressure_filtered_pa; + 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, raw.baro_temp_celcius - PCB_TEMP_ESTIMATE_DEG); + raw.baro_pres_mbar * 1e2f, air_temperature_celcius); /* announce the airspeed if needed, just publish else */ if (_airspeed_pub > 0) { @@ -1244,6 +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 */ |