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Add pressure offset based on device P-mode

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ES-Alexander 2021-07-13 17:25:51 +10:00 committed by Jacob Walser
parent 5fd32d3f36
commit 600df16604
1 changed files with 23 additions and 2 deletions
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25
libraries/AP_Baro/AP_Baro_KellerLD.cpp
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@ -30,6 +30,8 @@
extern const AP_HAL::HAL &hal;
// sensor metadata register
static const uint8_t CMD_METADATA_PMODE = 0x12;
// Measurement range registers
static const uint8_t CMD_PRANGE_MIN_MSB = 0x13;
static const uint8_t CMD_PRANGE_MIN_LSB = 0x14;
@ -81,6 +83,26 @@ bool AP_Baro_KellerLD::_init()
// measurement range, but for some reason this isn't an issue when requesting measurements.
// This is why we need to split the transfers with delays like this.
// (Using AP_HAL::I2CDevice::set_split_transfers will not work with these sensors)
// Read out sensor P-mode and select relevant pressure offset
cal_read_ok &= _dev->transfer(&CMD_METADATA_PMODE, 1, nullptr, 0);
hal.scheduler->delay(1);
cal_read_ok &= _dev->transfer(nullptr, 0, &data[0], 3);
hal.scheduler->delay(1);
switch (data[2] & 0b11) {
case 0:
// PR-mode Vented Gauge sensor (zero at 1 atm)
_p_mode_offset = 1.01325;
break;
case 1:
// PA-mode Sealed Gauge sensor (zero at 1 bar)
_p_mode_offset = 1.0;
break;
default:
// PAA-mode Absolute sensor (zero at vacuum), or undefined mode
_p_mode_offset = 0.0;
}
// Read out pressure measurement range
cal_read_ok &= _dev->transfer(&CMD_PRANGE_MIN_MSB, 1, nullptr, 0);
@ -248,9 +270,8 @@ void AP_Baro_KellerLD::update()
uint16_t raw_temperature_avg = sum_temperature / num_samples;
// per datasheet
float pressure = (raw_pressure_avg - 16384) * (_p_max - _p_min) / 32768 + _p_min;
float pressure = (raw_pressure_avg - 16384) * (_p_max - _p_min) / 32768 + _p_min + _p_mode_offset;
pressure *= 100000; // bar -> Pascal
pressure += 101300; // MSL pressure offset
float temperature = ((raw_temperature_avg >> 4) - 24) * 0.05f - 50;
_copy_to_frontend(_instance, pressure, temperature);