diff options
Diffstat (limited to 'src/modules/sensors/sensors.cpp')
| -rw-r--r-- | src/modules/sensors/sensors.cpp | 13 |
1 files changed, 9 insertions, 4 deletions
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 12ed55480..f890c4c7f 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -1031,11 +1031,14 @@ 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, - raw.baro_pres_mbar * 1e2f, raw.baro_temp_celcius - PCB_TEMP_ESTIMATE_DEG); + 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, air_temperature_celcius); /* announce the airspeed if needed, just publish else */ if (_airspeed_pub > 0) { @@ -1243,6 +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 */ |