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AP_Baro_KellerLD : set/update _p_mode_offset based on _p_mode 

This initialises/updates _p_mode_offset on the basis of _p_mode

Co-Authored-By: Josh Henderson <69225461+hendjoshsr71@users.noreply.github.com>
Co-Authored-By: ES-Alexander <25898329+ES-Alexander@users.noreply.github.com>
This commit is contained in:
Shiv Tyagi 2021-10-19 22:12:27 +05:30 committed by Andrew Tridgell
parent 6cae738ab8
commit dd00fd720d
1 changed files with 26 additions and 8 deletions
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34
libraries/AP_Baro/AP_Baro_KellerLD.cpp
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@ -90,18 +90,30 @@ bool AP_Baro_KellerLD::_init()
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;
_p_mode = (SensorMode)(data[2] & 0b11);
// update pressure offset based on P-Mode
switch (_p_mode) {
case SensorMode::PR_MODE:
// PR-Mode vented gauge sensor
// pressure reads zero when the pressure outside is equal to the pressure inside the enclosure
_p_mode_offset = _frontend.get_pressure(0);
break;
case 1:
// PA-mode Sealed Gauge sensor (zero at 1 bar)
case SensorMode::PA_MODE:
// PA-Mode sealed gauge sensor
// pressure reads zero when the pressure outside is equal to 1.0 bar
// i.e., the pressure at which the vent is sealed
_p_mode_offset = 1.0;
break;
default:
// PAA-mode Absolute sensor (zero at vacuum), or undefined mode
case SensorMode::PAA_MODE:
// PAA-mode Absolute sensor (zero at vacuum)
_p_mode_offset = 0.0;
break;
case SensorMode::UNDEFINED:
// we should give an error here
printf("KellerLD Device Mode UNDEFINED\n");
_dev->get_semaphore()->give();
return false;
}
// Read out pressure measurement range
@ -253,6 +265,12 @@ void AP_Baro_KellerLD::update()
float sum_pressure, sum_temperature;
float num_samples;
// update _p_mode_offset if vented guage
if (_p_mode == SensorMode::PR_MODE) {
// we need to get the pressure from on-board barometer
_p_mode_offset = _frontend.get_pressure(0);
}
{
WITH_SEMAPHORE(_sem);