Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-02 14:08:45 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Baro: simplify PX4 driver

Browse Source 
we can now rely on queueing in NuttX driver
This commit is contained in:
Andrew Tridgell 2013-08-28 19:18:32 +10:00
parent 1ff669eb97
commit 395739dded
2 changed files with 10 additions and 35 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

30
libraries/AP_Baro/AP_Baro_PX4.cpp
View File

@ -16,13 +16,6 @@
extern const AP_HAL::HAL& hal;
float AP_Baro_PX4::_pressure_sum;
float AP_Baro_PX4::_temperature_sum;
uint32_t AP_Baro_PX4::_sum_count;
uint32_t AP_Baro_PX4::_last_timer;
uint64_t AP_Baro_PX4::_last_timestamp;
int AP_Baro_PX4::_baro_fd;
// Public Methods //////////////////////////////////////////////////////////////
bool AP_Baro_PX4::init(void)
{
@ -35,13 +28,12 @@ bool AP_Baro_PX4::init(void)
/* set the driver to poll at 150Hz */
ioctl(_baro_fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX);
// average over up to 10 samples
ioctl(_baro_fd, SENSORIOCSQUEUEDEPTH, 10);
hal.scheduler->register_timer_process(_baro_timer);
// average over up to 20 samples
ioctl(_baro_fd, SENSORIOCSQUEUEDEPTH, 20);
// give the timer a chance to run and gather one sample
hal.scheduler->delay(40);
_accumulate();
}
return true;
@ -50,19 +42,15 @@ bool AP_Baro_PX4::init(void)
// Read the sensor
uint8_t AP_Baro_PX4::read(void)
{
hal.scheduler->suspend_timer_procs();
// try to accumulate one more sample, so we have the latest data
_accumulate();
// consider the baro healthy if we got a reading in the last 0.2s
healthy = (hrt_absolute_time() - _last_timestamp < 200000);
if (!healthy || _sum_count == 0) {
hal.scheduler->resume_timer_procs();
return healthy;
}
_pressure = (_pressure_sum / _sum_count) * 100.0f;
_temperature = (_temperature_sum / _sum_count) * 10.0f;
_pressure_samples = _sum_count;
@ -71,8 +59,6 @@ uint8_t AP_Baro_PX4::read(void)
_temperature_sum = 0;
_sum_count = 0;
hal.scheduler->resume_timer_procs();
return 1;
}
@ -89,16 +75,6 @@ void AP_Baro_PX4::_accumulate(void)
}
}
void AP_Baro_PX4::_baro_timer(uint32_t now)
{
// accumulate samples at 100Hz
if (now - _last_timer < 10000) {
return;
}
_last_timer = hal.scheduler->micros();
_accumulate();
}
float AP_Baro_PX4::get_pressure() {
return _pressure;
}

15
libraries/AP_Baro/AP_Baro_PX4.h
View File

@ -18,15 +18,14 @@ public:
private:
float _temperature;
float _pressure;
static float _pressure_sum;
static float _temperature_sum;
static uint32_t _sum_count;
static void _accumulate(void);
static void _baro_timer(uint32_t now);
static uint64_t _last_timestamp;
float _pressure_sum;
float _temperature_sum;
uint32_t _sum_count;
void _accumulate(void);
void _baro_timer(uint32_t now);
uint64_t _last_timestamp;
// baro driver handle
static int _baro_fd;
static uint32_t _last_timer;
int _baro_fd;
};
#endif // __AP_BARO_PX4_H__