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AP_RPM: added RPM_MAX parameter 

attempt to avoid noise in the pulses
This commit is contained in:
Andrew Tridgell 2015-08-08 20:00:36 +10:00
parent e3f7b002c2
commit ac363c5447
3 changed files with 15 additions and 9 deletions
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6
libraries/AP_RPM/AP_RPM.cpp
View File

@ -33,6 +33,12 @@ const AP_Param::GroupInfo AP_RPM::var_info[] PROGMEM = {
// @Increment: 0.001
AP_GROUPINFO("_SCALING", 1, AP_RPM, _scaling[0], 1.0f),
// @Param: _MAX
// @DisplayName: Maximum RPM
// @Description: Maximum RPM to report
// @Increment: 1
AP_GROUPINFO("_MAX", 2, AP_RPM, _maximum[0], 0),
#if RPM_MAX_INSTANCES > 1
// @Param: 2_TYPE
// @DisplayName: Second RPM type

1
libraries/AP_RPM/AP_RPM.h
View File

@ -50,6 +50,7 @@ public:
// parameters for each instance
AP_Int8 _type[RPM_MAX_INSTANCES];
AP_Float _scaling[RPM_MAX_INSTANCES];
AP_Float _maximum[RPM_MAX_INSTANCES];
static const struct AP_Param::GroupInfo var_info[];

17
libraries/AP_RPM/RPM_PX4_PWM.cpp
View File

@ -34,12 +34,6 @@
extern const AP_HAL::HAL& hal;
/*
don't accept periods below 100us as it is probably ringing of the
signal. It would represent 600k RPM
*/
#define RPM_MIN_PERIOD_US 100
/*
open the sensor in constructor
*/
@ -85,14 +79,19 @@ void AP_RPM_PX4_PWM::update(void)
while (::read(_fd, &pwm, sizeof(pwm)) == sizeof(pwm)) {
// the px4 pwm_input driver reports the period in microseconds
if (pwm.period > RPM_MIN_PERIOD_US) {
sum += (1.0e6f * 60) / pwm.period;
if (pwm.period == 0) {
continue;
}
float rpm = scaling * (1.0e6f * 60) / pwm.period;
float maximum = ap_rpm._maximum[state.instance];
if (maximum <= 0 || rpm <= maximum) {
sum += rpm;
count++;
}
}
if (count != 0) {
state.rate_rpm = scaling * sum / count;
state.rate_rpm = sum / count;
state.last_reading_ms = hal.scheduler->millis();
}
}