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AP_Airspeed: fix MS5525 driver to allow copying driver to 64bit SITL

This commit is contained in:
Josh Henderson 2021-08-16 22:16:15 -04:00 committed by Andrew Tridgell
parent 5e90649a6e
commit c454cea401
1 changed files with 5 additions and 5 deletions
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10
libraries/AP_Airspeed/AP_Airspeed_MS5525.cpp
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@ -182,11 +182,11 @@ void AP_Airspeed_MS5525::calculate(void)
const uint8_t Q5 = 7;
const uint8_t Q6 = 21;
int64_t dT = D2 - int64_t(prom[5]) * (1UL<<Q5);
int64_t TEMP = 2000 + (dT*int64_t(prom[6]))/(1UL<<Q6);
int64_t OFF = int64_t(prom[2])*(1UL<<Q2) + (int64_t(prom[4])*dT)/(1UL<<Q4);
int64_t SENS = int64_t(prom[1])*(1UL<<Q1) + (int64_t(prom[3])*dT)/(1UL<<Q3);
int64_t P = (D1*SENS/(1UL<<21)-OFF)/(1UL<<15);
float dT = float(D2) - int64_t(prom[5]) * (1L<<Q5);
float TEMP = 2000 + (dT*int64_t(prom[6]))/(1L<<Q6);
float OFF = int64_t(prom[2])*(1L<<Q2) + (int64_t(prom[4])*dT)/(1L<<Q4);
float SENS = int64_t(prom[1])*(1L<<Q1) + (int64_t(prom[3])*dT)/(1L<<Q3);
float P = (float(D1)*SENS/(1L<<21)-OFF)/(1L<<15);
const float PSI_to_Pa = 6894.757f;
float P_Pa = PSI_to_Pa * 1.0e-4 * P;
float Temp_C = TEMP * 0.01;