diff options
Diffstat (limited to 'apps/sensors/sensors.cpp')
-rw-r--r-- | apps/sensors/sensors.cpp | 40 |
1 files changed, 20 insertions, 20 deletions
diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp index 2cf3b92ef..ab8818b40 100644 --- a/apps/sensors/sensors.cpp +++ b/apps/sensors/sensors.cpp @@ -158,7 +158,7 @@ private: int _rc_sub; /**< raw rc channels data subscription */ int _baro_sub; /**< raw baro data subscription */ int _airspeed_sub; /**< airspeed subscription */ - int _differential_pressure_sub; /**< raw differential pressure subscription */ + int _diff_pres_sub; /**< raw differential pressure subscription */ int _vstatus_sub; /**< vehicle status subscription */ int _params_sub; /**< notification of parameter updates */ int _manual_control_sub; /**< notification of manual control updates */ @@ -168,14 +168,14 @@ private: orb_advert_t _rc_pub; /**< raw r/c control topic */ orb_advert_t _battery_pub; /**< battery status */ orb_advert_t _airspeed_pub; /**< airspeed */ - orb_advert_t _differential_pressure_pub; /**< differential_pressure */ + orb_advert_t _diff_pres_pub; /**< differential_pressure */ perf_counter_t _loop_perf; /**< loop performance counter */ struct rc_channels_s _rc; /**< r/c channel data */ struct battery_status_s _battery_status; /**< battery status */ struct baro_report _barometer; /**< barometer data */ - struct differential_pressure_s _differential_pressure; + struct differential_pressure_s _diff_pres; struct airspeed_s _airspeed; struct { @@ -341,7 +341,7 @@ private: * @param raw Combined sensor data structure into which * data should be returned. */ - void differential_pressure_poll(struct sensor_combined_s &raw); + void diff_pres_poll(struct sensor_combined_s &raw); /** * Check for changes in vehicle status. @@ -411,7 +411,7 @@ Sensors::Sensors() : _rc_pub(-1), _battery_pub(-1), _airspeed_pub(-1), - _differential_pressure_pub(-1), + _diff_pres_pub(-1), /* performance counters */ _loop_perf(perf_alloc(PC_ELAPSED, "sensor task update")) @@ -496,8 +496,8 @@ Sensors::Sensors() : _parameter_handles.mag_scale[1] = param_find("SENS_MAG_YSCALE"); _parameter_handles.mag_scale[2] = param_find("SENS_MAG_ZSCALE"); - /*Airspeed offset */ - _parameter_handles.airspeed_offset = param_find("SENS_VAIR_OFF"); + /* Differential pressure offset */ + _parameter_handles.airspeed_offset = param_find("SENS_DPRES_OFF"); _parameter_handles.battery_voltage_scaling = param_find("BAT_V_SCALING"); @@ -902,22 +902,22 @@ Sensors::baro_poll(struct sensor_combined_s &raw) } void -Sensors::differential_pressure_poll(struct sensor_combined_s &raw) +Sensors::diff_pres_poll(struct sensor_combined_s &raw) { bool updated; - orb_check(_differential_pressure_sub, &updated); + orb_check(_diff_pres_sub, &updated); if (updated) { - orb_copy(ORB_ID(differential_pressure), _differential_pressure_sub, &_differential_pressure); + orb_copy(ORB_ID(differential_pressure), _diff_pres_sub, &_diff_pres); - float airspeed_true = calc_true_airspeed(_differential_pressure.differential_pressure_pa + raw.baro_pres_mbar*1e2f, + float airspeed_true = calc_true_airspeed(_diff_pres.differential_pressure_pa + raw.baro_pres_mbar*1e2f, raw.baro_pres_mbar*1e2f, raw.baro_temp_celcius - 5.0f); //factor 1e2 for conversion from mBar to Pa // XXX HACK - true temperature is much less than indicated temperature in baro, // subtract 5 degrees in an attempt to account for the electrical upheating of the PCB - float airspeed_indicated = calc_indicated_airspeed(_differential_pressure.differential_pressure_pa); + float airspeed_indicated = calc_indicated_airspeed(_diff_pres.differential_pressure_pa); - raw.differential_pressure_pa = _differential_pressure.differential_pressure_pa; + raw.differential_pressure_pa = _diff_pres.differential_pressure_pa; raw.differential_pressure_counter++; } } @@ -1082,16 +1082,16 @@ Sensors::adc_poll(struct sensor_combined_s &raw) float diff_pres_pa = voltage * 1000.0f - _parameters.airspeed_offset; //for MPXV7002DP sensor - _differential_pressure.timestamp = hrt_absolute_time(); - _differential_pressure.differential_pressure_pa = diff_pres_pa; - _differential_pressure.voltage = voltage; + _diff_pres.timestamp = hrt_absolute_time(); + _diff_pres.differential_pressure_pa = diff_pres_pa; + _diff_pres.voltage = voltage; /* announce the airspeed if needed, just publish else */ - if (_differential_pressure_pub > 0) { - orb_publish(ORB_ID(differential_pressure), _differential_pressure_pub, &_differential_pressure); + if (_diff_pres_pub > 0) { + orb_publish(ORB_ID(differential_pressure), _diff_pres_pub, &_diff_pres); } else { - _differential_pressure_pub = orb_advertise(ORB_ID(differential_pressure), &_differential_pressure); + _diff_pres_pub = orb_advertise(ORB_ID(differential_pressure), &_diff_pres); } } } @@ -1356,7 +1356,7 @@ Sensors::task_main() gyro_poll(raw); mag_poll(raw); baro_poll(raw); - differential_pressure_poll(raw); + diff_pres_poll(raw); parameter_update_poll(true /* forced */); |