diff options
Diffstat (limited to 'src/modules/sensors/sensors.cpp')
| -rw-r--r-- | src/modules/sensors/sensors.cpp | 19 |
1 files changed, 14 insertions, 5 deletions
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 91a8d5670..f890c4c7f 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -36,6 +36,8 @@ * Sensor readout process. * * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + * @author Thomas Gubler <thomasgubler@student.ethz.ch> */ #include <nuttx/config.h> @@ -1031,10 +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) { @@ -1171,16 +1175,19 @@ Sensors::adc_poll(struct sensor_combined_s &raw) hrt_abstime t = hrt_absolute_time(); /* rate limit to 100 Hz */ if (t - _last_adc >= 10000) { - /* make space for a maximum of eight channels */ - struct adc_msg_s buf_adc[8]; + /* make space for a maximum of twelve channels (to ensure reading all channels at once) */ + struct adc_msg_s buf_adc[12]; /* read all channels available */ int ret = read(_fd_adc, &buf_adc, sizeof(buf_adc)); if (ret >= (int)sizeof(buf_adc[0])) { - for (unsigned i = 0; i < sizeof(buf_adc) / sizeof(buf_adc[0]); i++) { + + /* Read add channels we got */ + for (unsigned i = 0; i < ret / sizeof(buf_adc[0]); i++) { /* Save raw voltage values */ - if (i < (sizeof(raw.adc_voltage_v)) / sizeof(raw.adc_voltage_v[0])) { + if (i < (sizeof(raw.adc_voltage_v) / sizeof(raw.adc_voltage_v[0]))) { raw.adc_voltage_v[i] = buf_adc[i].am_data / (4096.0f / 3.3f); + raw.adc_mapping[i] = buf_adc[i].am_channel; } /* look for specific channels and process the raw voltage to measurement data */ @@ -1239,6 +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 */ |