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AP_Airspeed: support both 5inH2O and 10inH2O versions of DLVR sensor 

useful for faster aircraft
This commit is contained in:
Andrew Tridgell 2019-07-18 15:19:09 +10:00 committed by WickedShell
parent d1f80a841f
commit c173f8e24d
4 changed files with 21 additions and 10 deletions
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13
libraries/AP_Airspeed/AP_Airspeed.cpp
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@ -66,7 +66,7 @@ const AP_Param::GroupInfo AP_Airspeed::var_info[] = {
// @Param: _TYPE
// @DisplayName: Airspeed type
// @Description: Type of airspeed sensor
// @Values: 0:None,1:I2C-MS4525D0,2:Analog,3:I2C-MS5525,4:I2C-MS5525 (0x76),5:I2C-MS5525 (0x77),6:I2C-SDP3X,7:I2C-DLVR,8:UAVCAN
// @Values: 0:None,1:I2C-MS4525D0,2:Analog,3:I2C-MS5525,4:I2C-MS5525 (0x76),5:I2C-MS5525 (0x77),6:I2C-SDP3X,7:I2C-DLVR-5in,8:UAVCAN,9:I2C-DLVR-10in
// @User: Standard
AP_GROUPINFO_FLAGS("_TYPE", 0, AP_Airspeed, param[0].type, ARSPD_DEFAULT_TYPE, AP_PARAM_FLAG_ENABLE),
@ -146,7 +146,7 @@ const AP_Param::GroupInfo AP_Airspeed::var_info[] = {
// @Param: 2_TYPE
// @DisplayName: Second Airspeed type
// @Description: Type of 2nd airspeed sensor
// @Values: 0:None,1:I2C-MS4525D0,2:Analog,3:I2C-MS5525,4:I2C-MS5525 (0x76),5:I2C-MS5525 (0x77),6:I2C-SDP3X,7:I2C-DLVR,8:UAVCAN
// @Values: 0:None,1:I2C-MS4525D0,2:Analog,3:I2C-MS5525,4:I2C-MS5525 (0x76),5:I2C-MS5525 (0x77),6:I2C-SDP3X,7:I2C-DLVR-5in,8:UAVCAN,9:I2C-DLVR-10in
// @User: Standard
AP_GROUPINFO_FLAGS("2_TYPE", 11, AP_Airspeed, param[1].type, 0, AP_PARAM_FLAG_ENABLE),
@ -267,9 +267,14 @@ void AP_Airspeed::init()
case TYPE_I2C_SDP3X:
sensor[i] = new AP_Airspeed_SDP3X(*this, i);
break;
case TYPE_I2C_DLVR:
case TYPE_I2C_DLVR_5IN:
#if !HAL_MINIMIZE_FEATURES
sensor[i] = new AP_Airspeed_DLVR(*this, i);
sensor[i] = new AP_Airspeed_DLVR(*this, i, 5);
#endif // !HAL_MINIMIZE_FEATURES
break;
case TYPE_I2C_DLVR_10IN:
#if !HAL_MINIMIZE_FEATURES
sensor[i] = new AP_Airspeed_DLVR(*this, i, 10);
#endif // !HAL_MINIMIZE_FEATURES
break;
case TYPE_UAVCAN:

3
libraries/AP_Airspeed/AP_Airspeed.h
View File

@ -140,8 +140,9 @@ public:
TYPE_I2C_MS5525_ADDRESS_1=4,
TYPE_I2C_MS5525_ADDRESS_2=5,
TYPE_I2C_SDP3X=6,
TYPE_I2C_DLVR=7,
TYPE_I2C_DLVR_5IN=7,
TYPE_UAVCAN=8,
TYPE_I2C_DLVR_10IN=9,
};
// get current primary sensor

12
libraries/AP_Airspeed/AP_Airspeed_DLVR.cpp
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@ -12,6 +12,10 @@
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
driver for DLVR differential airspeed sensor
https://www.allsensors.com/products/DLVR-L01D
*/
#include "AP_Airspeed_DLVR.h"
#include <AP_Math/AP_Math.h>
@ -27,8 +31,9 @@ extern const AP_HAL::HAL &hal;
#endif
AP_Airspeed_DLVR::AP_Airspeed_DLVR(AP_Airspeed &_frontend, uint8_t _instance) :
AP_Airspeed_Backend(_frontend, _instance)
AP_Airspeed_DLVR::AP_Airspeed_DLVR(AP_Airspeed &_frontend, uint8_t _instance, const float _range_inH2O) :
AP_Airspeed_Backend(_frontend, _instance),
range_inH2O(_range_inH2O)
{}
// probe and initialise the sensor
@ -53,7 +58,6 @@ bool AP_Airspeed_DLVR::init()
#define PRESSURE_SHIFT 16
#define PRESSURE_MASK ((1 << 14) - 1)
#define DLVR_FSS 5.0f // assumes 5 inch H2O sensor
#define DLVR_OFFSET 8192.0f
#define DLVR_SCALE 16384.0f
@ -79,7 +83,7 @@ void AP_Airspeed_DLVR::timer()
uint32_t pres_raw = (data >> PRESSURE_SHIFT) & PRESSURE_MASK;
uint32_t temp_raw = (data >> TEMPERATURE_SHIFT) & TEMPERATURE_MASK;
float press_h2o = 1.25f * 2.0f * DLVR_FSS * ((pres_raw - DLVR_OFFSET) / DLVR_SCALE);
float press_h2o = 1.25f * 2.0f * range_inH2O * ((pres_raw - DLVR_OFFSET) / DLVR_SCALE);
float temp = temp_raw * (200.0f / 2047.0f) - 50.0f;
WITH_SEMAPHORE(sem);

3
libraries/AP_Airspeed/AP_Airspeed_DLVR.h
View File

@ -28,7 +28,7 @@ class AP_Airspeed_DLVR : public AP_Airspeed_Backend
{
public:
AP_Airspeed_DLVR(AP_Airspeed &frontend, uint8_t _instance);
AP_Airspeed_DLVR(AP_Airspeed &frontend, uint8_t _instance, const float _range_inH2O);
~AP_Airspeed_DLVR(void) {}
// probe and initialise the sensor
@ -51,6 +51,7 @@ private:
uint32_t press_count;
uint32_t last_sample_time_ms;
const float range_inH2O;
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev;
};