mirror of https://github.com/ArduPilot/ardupilot
69 lines
1.4 KiB
C++
69 lines
1.4 KiB
C++
#include "AP_Airspeed_MSP.h"
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#if HAL_MSP_AIRSPEED_ENABLED
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AP_Airspeed_MSP::AP_Airspeed_MSP(AP_Airspeed &_frontend, uint8_t _instance, uint8_t _msp_instance) :
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AP_Airspeed_Backend(_frontend, _instance),
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msp_instance(_msp_instance)
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{
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}
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// return the current differential_pressure in Pascal
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bool AP_Airspeed_MSP::get_differential_pressure(float &pressure)
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{
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WITH_SEMAPHORE(sem);
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if (press_count == 0) {
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return false;
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}
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pressure = sum_pressure/press_count;
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press_count = 0;
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sum_pressure = 0;
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return true;
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}
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// get last temperature
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bool AP_Airspeed_MSP::get_temperature(float &temperature)
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{
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WITH_SEMAPHORE(sem);
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if (temp_count == 0) {
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return false;
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}
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temperature = sum_temp/temp_count;
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temp_count = 0;
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sum_temp = 0;
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return true;
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}
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void AP_Airspeed_MSP::handle_msp(const MSP::msp_airspeed_data_message_t &pkt)
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{
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if (pkt.instance != msp_instance) {
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// not for us
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return;
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}
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WITH_SEMAPHORE(sem);
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sum_pressure += pkt.pressure;
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press_count++;
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if (press_count > 100) {
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// prevent overflow
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sum_pressure /= 2;
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press_count /= 2;
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}
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if (pkt.temp == INT16_MIN) {
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// invalid temperature
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return;
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}
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sum_temp += pkt.temp*0.01;
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temp_count++;
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if (temp_count > 100) {
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// prevent overflow
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sum_temp /= 2;
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temp_count /= 2;
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}
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}
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#endif // HAL_MSP_AIRSPEED_ENABLED
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