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AP_Baro: Tweak Keller LD driver for better performance after initial tests

This commit is contained in:
Jacob Walser 2017-08-22 21:31:47 -04:00 committed by jaxxzer
parent 2a71afd3ba
commit 07e00de549
1 changed files with 13 additions and 5 deletions
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18
libraries/AP_Baro/AP_Baro_KellerLD.cpp
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@ -135,8 +135,7 @@ bool AP_Baro_KellerLD::_init()
return false;
}
const char* name = "Keller LD";
printf("%s found on bus %u address 0x%02x\n", name, _dev->bus_num(), _dev->get_bus_address());
printf("Keller LD found on bus %u address 0x%02x\n", _dev->bus_num(), _dev->get_bus_address());
// Send a command to read temperature first
_dev->transfer(&CMD_REQUEST_MEASUREMENT, 1, nullptr, 0);
@ -152,8 +151,12 @@ bool AP_Baro_KellerLD::_init()
_dev->get_semaphore()->give();
/* Request 100Hz update */
_dev->register_periodic_callback(10 * AP_USEC_PER_MSEC,
// The sensor needs time to take a deep breath after reading out the calibration...
hal.scheduler->delay(150);
// Request 50Hz update
// The sensor really struggles with any jitter in timing at 100Hz, and will sometimes start reading out all zeros
_dev->register_periodic_callback(20 * AP_USEC_PER_MSEC,
FUNCTOR_BIND_MEMBER(&AP_Baro_KellerLD::_timer, void));
return true;
}
@ -163,8 +166,8 @@ bool AP_Baro_KellerLD::_read()
{
uint8_t data[5];
if (!_dev->transfer(0x0, 1, data, sizeof(data))) {
return false;
Debug("Keller LD read failed!");
return false;
}
//uint8_t status = data[0];
@ -180,6 +183,11 @@ bool AP_Baro_KellerLD::_read()
}
#endif
if (pressure_raw == 0 || temperature_raw == 0) {
Debug("Keller: bad read");
return false;
}
if (_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
_update_and_wrap_accumulator(pressure_raw, temperature_raw, 128);
_sem->give();