diff options
-rw-r--r-- | src/drivers/meas_airspeed/meas_airspeed.cpp | 9 | ||||
-rw-r--r-- | src/modules/dataman/dataman.c | 34 | ||||
-rw-r--r-- | src/modules/dataman/module.mk | 2 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 4 | ||||
-rw-r--r-- | src/modules/sdlog2/sdlog2.c | 1 | ||||
-rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 3 | ||||
-rw-r--r-- | src/modules/sensors/sensors.cpp | 7 | ||||
-rw-r--r-- | src/modules/uORB/topics/differential_pressure.h | 5 | ||||
-rw-r--r-- | src/modules/uORB/topics/sensor_combined.h | 2 |
9 files changed, 40 insertions, 27 deletions
diff --git a/src/drivers/meas_airspeed/meas_airspeed.cpp b/src/drivers/meas_airspeed/meas_airspeed.cpp index beca28e7a..2c3efdc35 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) { } @@ -212,6 +218,7 @@ 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; diff --git a/src/modules/dataman/dataman.c b/src/modules/dataman/dataman.c index fa88dfaff..34d20e485 100644 --- a/src/modules/dataman/dataman.c +++ b/src/modules/dataman/dataman.c @@ -1,8 +1,10 @@ /**************************************************************************** * * Copyright (c) 2013 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier - * Jean Cyr + * Author: Jean Cyr + * Lorenz Meier + * Julian Oes + * Thomas Gubler * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -40,16 +42,8 @@ #include <nuttx/config.h> #include <stdio.h> #include <stdlib.h> -#include <string.h> -#include <unistd.h> #include <fcntl.h> -#include <errno.h> -#include <math.h> -#include <poll.h> -#include <time.h> -#include <sys/ioctl.h> #include <systemlib/systemlib.h> -#include <systemlib/err.h> #include <queue.h> #include "dataman.h" @@ -175,8 +169,10 @@ create_work_item(void) /* Try to reuse item from free item queue */ lock_queue(&g_free_q); + if ((item = (work_q_item_t *)sq_remfirst(&(g_free_q.q)))) g_free_q.size--; + unlock_queue(&g_free_q); /* If we there weren't any free items then obtain memory for a new one */ @@ -289,11 +285,11 @@ _write(dm_item_t item, unsigned char index, dm_persitence_t persistence, const v offset = calculate_offset(item, index); /* If item type or index out of range, return error */ - if (offset < 0) + if (offset < 0) return -1; /* Make sure caller has not given us more data than we can handle */ - if (count > DM_MAX_DATA_SIZE) + if (count > DM_MAX_DATA_SIZE) return -1; /* Write out the data, prefixed with length and persistence level */ @@ -339,6 +335,7 @@ _read(dm_item_t item, unsigned char index, void *buf, size_t count) /* Read the prefix and data */ len = -1; + if (lseek(g_task_fd, offset, SEEK_SET) == offset) len = read(g_task_fd, buffer, count + DM_SECTOR_HDR_SIZE); @@ -492,7 +489,7 @@ dm_write(dm_item_t item, unsigned char index, dm_persitence_t persistence, const return -1; /* get a work item and queue up a write request */ - if ((work = create_work_item()) == NULL) + if ((work = create_work_item()) == NULL) return -1; work->func = dm_write_func; @@ -599,17 +596,20 @@ task_main(int argc, char *argv[]) /* Open or create the data manager file */ g_task_fd = open(k_data_manager_device_path, O_RDWR | O_CREAT | O_BINARY); + if (g_task_fd < 0) { warnx("Could not open data manager file %s", k_data_manager_device_path); sem_post(&g_init_sema); /* Don't want to hang startup */ return -1; } + if (lseek(g_task_fd, max_offset, SEEK_SET) != max_offset) { close(g_task_fd); warnx("Could not seek data manager file %s", k_data_manager_device_path); sem_post(&g_init_sema); /* Don't want to hang startup */ return -1; } + fsync(g_task_fd); /* We use two file descriptors, one for the caller context and one for the worker thread */ @@ -767,10 +767,10 @@ dataman_main(int argc, char *argv[]) stop(); else if (!strcmp(argv[1], "status")) status(); - else if (!strcmp(argv[1], "poweronrestart")) - dm_restart(DM_INIT_REASON_POWER_ON); - else if (!strcmp(argv[1], "inflightrestart")) - dm_restart(DM_INIT_REASON_IN_FLIGHT); + else if (!strcmp(argv[1], "poweronrestart")) + dm_restart(DM_INIT_REASON_POWER_ON); + else if (!strcmp(argv[1], "inflightrestart")) + dm_restart(DM_INIT_REASON_IN_FLIGHT); else usage(); diff --git a/src/modules/dataman/module.mk b/src/modules/dataman/module.mk index dce7a6235..27670dd3f 100644 --- a/src/modules/dataman/module.mk +++ b/src/modules/dataman/module.mk @@ -38,5 +38,3 @@ MODULE_COMMAND = dataman SRCS = dataman.c - -INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 489d2bdcb..d7e300670 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -634,13 +634,15 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg) hil_battery_status.timestamp = timestamp; hil_battery_status.voltage_v = 11.1f; + hil_battery_status.voltage_filtered_v = 11.1f; hil_battery_status.current_a = 10.0f; + hil_battery_status.discharged_mah = -1.0f; if (_battery_pub > 0) { orb_publish(ORB_ID(battery_status), _battery_pub, &hil_battery_status); } else { - _baro_pub = orb_advertise(ORB_ID(battery_status), &hil_battery_status); + _battery_pub = orb_advertise(ORB_ID(battery_status), &hil_battery_status); } } diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index ee3ec7216..ad709d27d 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -1021,6 +1021,7 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.body.log_SENS.baro_alt = buf.sensor.baro_alt_meter; log_msg.body.log_SENS.baro_temp = buf.sensor.baro_temp_celcius; log_msg.body.log_SENS.diff_pres = buf.sensor.differential_pressure_pa; + log_msg.body.log_SENS.diff_pres_filtered = buf.sensor.differential_pressure_filtered_pa; LOGBUFFER_WRITE_AND_COUNT(SENS); } diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index e27518aa0..fe500ad5f 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -92,6 +92,7 @@ struct log_SENS_s { float baro_alt; float baro_temp; float diff_pres; + float diff_pres_filtered; }; /* --- LPOS - LOCAL POSITION --- */ @@ -306,7 +307,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(ATT, "fffffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate,GX,GY,GZ"), LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"), LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"), - LOG_FORMAT(SENS, "ffff", "BaroPres,BaroAlt,BaroTemp,DiffPres"), + LOG_FORMAT(SENS, "fffff", "BaroPres,BaroAlt,BaroTemp,DiffPres,DiffPresFilt"), LOG_FORMAT(LPOS, "ffffffLLfBBB", "X,Y,Z,VX,VY,VZ,RefLat,RefLon,RefAlt,XYFlags,ZFlags,Landed"), LOG_FORMAT(LPSP, "ffff", "X,Y,Z,Yaw"), LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"), diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 520ea3137..91a8d5670 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -1029,10 +1029,11 @@ Sensors::diff_pres_poll(struct sensor_combined_s &raw) raw.differential_pressure_pa = _diff_pres.differential_pressure_pa; raw.differential_pressure_timestamp = _diff_pres.timestamp; + raw.differential_pressure_filtered_pa = _diff_pres.differential_pressure_filtered_pa; - _airspeed.timestamp = hrt_absolute_time(); - _airspeed.indicated_airspeed_m_s = calc_indicated_airspeed(_diff_pres.differential_pressure_pa); - _airspeed.true_airspeed_m_s = calc_true_airspeed(_diff_pres.differential_pressure_pa + raw.baro_pres_mbar * 1e2f, + _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); /* announce the airspeed if needed, just publish else */ diff --git a/src/modules/uORB/topics/differential_pressure.h b/src/modules/uORB/topics/differential_pressure.h index 5d94d4288..3592c023c 100644 --- a/src/modules/uORB/topics/differential_pressure.h +++ b/src/modules/uORB/topics/differential_pressure.h @@ -54,8 +54,9 @@ struct differential_pressure_s { uint64_t timestamp; /**< microseconds since system boot, needed to integrate */ uint64_t error_count; - float differential_pressure_pa; /**< Differential pressure reading */ - float max_differential_pressure_pa; /**< Maximum differential pressure reading */ + float differential_pressure_pa; /**< Differential pressure reading */ + float differential_pressure_filtered_pa; /**< Low pass filtered differential pressure reading */ + float max_differential_pressure_pa; /**< Maximum differential pressure reading */ float voltage; /**< Voltage from analog airspeed sensors (voltage divider already compensated) */ float temperature; /**< Temperature provided by sensor */ diff --git a/src/modules/uORB/topics/sensor_combined.h b/src/modules/uORB/topics/sensor_combined.h index 92812efd4..cc25a83c3 100644 --- a/src/modules/uORB/topics/sensor_combined.h +++ b/src/modules/uORB/topics/sensor_combined.h @@ -104,6 +104,8 @@ struct sensor_combined_s { float differential_pressure_pa; /**< Airspeed sensor differential pressure */ uint64_t differential_pressure_timestamp; /**< Last measurement timestamp */ + float differential_pressure_filtered_pa; /**< Low pass filtered airspeed sensor differential pressure reading */ + }; /** |