From 2fa4434a03abe057e65a5c8ba29f8cd9cd75ca93 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 12 Jul 2014 00:17:50 +0200 Subject: Limit output of driver to positive range --- src/modules/sensors/sensors.cpp | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) (limited to 'src/modules') diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index cda79693d..1ffd7f02f 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -501,6 +501,7 @@ Sensors::Sensors() : _battery_current_timestamp(0) { memset(&_rc, 0, sizeof(_rc)); + memset(&_diff_pres, 0, sizeof(_diff_pres)); /* basic r/c parameters */ for (unsigned i = 0; i < _rc_max_chan_count; i++) { @@ -1332,12 +1333,13 @@ Sensors::adc_poll(struct sensor_combined_s &raw) */ if (voltage > 0.4f && (_parameters.diff_pres_analog_scale > 0.0f)) { - float diff_pres_pa = voltage * _parameters.diff_pres_analog_scale - _parameters.diff_pres_offset_pa; + 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; - _diff_pres.differential_pressure_filtered_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.temperature = -1000.0f; /* announce the airspeed if needed, just publish else */ -- cgit v1.2.3