diff options
Diffstat (limited to 'src/modules/sensors/sensors.cpp')
| -rw-r--r-- | src/modules/sensors/sensors.cpp | 67 |
1 files changed, 46 insertions, 21 deletions
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 4e8a8c01d..cdcb428dd 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -143,6 +143,12 @@ #define STICK_ON_OFF_LIMIT 0.75f +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + /** * Sensor app start / stop handling function * @@ -235,7 +241,7 @@ private: math::Matrix<3, 3> _board_rotation; /**< rotation matrix for the orientation that the board is mounted */ math::Matrix<3, 3> _external_mag_rotation; /**< rotation matrix for the orientation that an external mag is mounted */ bool _mag_is_external; /**< true if the active mag is on an external board */ - + uint64_t _battery_discharged; /**< battery discharged current in mA*ms */ hrt_abstime _battery_current_timestamp; /**< timestamp of last battery current reading */ @@ -258,7 +264,7 @@ private: int board_rotation; int external_mag_rotation; - + float board_offset[3]; int rc_map_roll; @@ -301,6 +307,8 @@ private: float battery_voltage_scaling; float battery_current_scaling; + float baro_qnh; + } _parameters; /**< local copies of interesting parameters */ struct { @@ -354,9 +362,11 @@ private: param_t board_rotation; param_t external_mag_rotation; - + param_t board_offset[3]; + param_t baro_qnh; + } _parameter_handles; /**< handles for interesting parameters */ @@ -462,12 +472,6 @@ private: namespace sensors { -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - Sensors *g_sensors = nullptr; } @@ -611,12 +615,15 @@ Sensors::Sensors() : /* rotations */ _parameter_handles.board_rotation = param_find("SENS_BOARD_ROT"); _parameter_handles.external_mag_rotation = param_find("SENS_EXT_MAG_ROT"); - + /* rotation offsets */ _parameter_handles.board_offset[0] = param_find("SENS_BOARD_X_OFF"); _parameter_handles.board_offset[1] = param_find("SENS_BOARD_Y_OFF"); _parameter_handles.board_offset[2] = param_find("SENS_BOARD_Z_OFF"); + /* Barometer QNH */ + _parameter_handles.baro_qnh = param_find("SENS_BARO_QNH"); + /* fetch initial parameter values */ parameters_update(); } @@ -828,19 +835,37 @@ Sensors::parameters_update() get_rot_matrix((enum Rotation)_parameters.board_rotation, &_board_rotation); get_rot_matrix((enum Rotation)_parameters.external_mag_rotation, &_external_mag_rotation); - + param_get(_parameter_handles.board_offset[0], &(_parameters.board_offset[0])); param_get(_parameter_handles.board_offset[1], &(_parameters.board_offset[1])); param_get(_parameter_handles.board_offset[2], &(_parameters.board_offset[2])); - + /** fine tune board offset on parameter update **/ - math::Matrix<3, 3> board_rotation_offset; + math::Matrix<3, 3> board_rotation_offset; board_rotation_offset.from_euler( M_DEG_TO_RAD_F * _parameters.board_offset[0], M_DEG_TO_RAD_F * _parameters.board_offset[1], M_DEG_TO_RAD_F * _parameters.board_offset[2]); - + _board_rotation = _board_rotation * board_rotation_offset; + /* update barometer qnh setting */ + param_get(_parameter_handles.baro_qnh, &(_parameters.baro_qnh)); + int fd; + fd = open(BARO_DEVICE_PATH, 0); + if (fd < 0) { + warn("%s", BARO_DEVICE_PATH); + errx(1, "FATAL: no barometer found"); + + } else { + int ret = ioctl(fd, BAROIOCSMSLPRESSURE, (unsigned long)(_parameters.baro_qnh * 100)); + if (ret) { + warnx("qnh could not be set"); + close(fd); + return ERROR; + } + close(fd); + } + return OK; } @@ -1204,16 +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 */ @@ -1432,12 +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 */ |