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airspeed: use floating point values and better averaging in zero_airspeed()

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this makes the calibration of airspeed a bit more accurate, and
prevents truncation of airspeed values
This commit is contained in:
Andrew Tridgell 2011-12-10 21:45:34 +11:00
parent 5d503fd65e
commit 011110e1dd
4 changed files with 17 additions and 14 deletions
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2
ArduCopter/test.pde
View File

@ -422,7 +422,7 @@ test_radio(uint8_t argc, const Menu::arg *argv)
while(1){
for(int i = 0; i < 9; i++){
Serial.printf_P(PSTR("%u,"),adc.Ch(i));
Serial.printf_P(PSTR("%.1f,"),adc.Ch(i));
}
Serial.println();
delay(20);

2
ArduPlane/ArduPlane.pde
View File

@ -364,7 +364,7 @@ static float current_total;
// Airspeed Sensors
// ----------------
static float airspeed_raw; // Airspeed Sensor - is a float to better handle filtering
static int airspeed_pressure; // airspeed as a pressure value
static float airspeed_pressure; // airspeed as a pressure value
// Barometer Sensor variables
// --------------------------

19
ArduPlane/sensors.pde
View File

@ -80,9 +80,9 @@ static void read_airspeed(void)
airspeed_raw = (float)adc.Ch(AIRSPEED_CH);
g.airspeed_offset.set_and_save(airspeed_raw);
}
airspeed_raw = ((float)adc.Ch(AIRSPEED_CH) * .25) + (airspeed_raw * .75);
airspeed_pressure = max(((int)airspeed_raw - g.airspeed_offset), 0);
airspeed = sqrt((float)airspeed_pressure * g.airspeed_ratio) * 100;
airspeed_raw = (adc.Ch(AIRSPEED_CH) * 0.25) + (airspeed_raw * 0.75);
airspeed_pressure = max((airspeed_raw - g.airspeed_offset), 0);
airspeed = sqrt(airspeed_pressure * g.airspeed_ratio) * 100;
#endif
calc_airspeed_errors();
@ -90,12 +90,15 @@ static void read_airspeed(void)
static void zero_airspeed(void)
{
airspeed_raw = (float)adc.Ch(AIRSPEED_CH);
for(int c = 0; c < 10; c++){
delay(20);
airspeed_raw = (airspeed_raw * .90) + ((float)adc.Ch(AIRSPEED_CH) * .10);
float sum = 0;
int c;
airspeed_raw = adc.Ch(AIRSPEED_CH);
for(c = 0; c < 250; c++) {
delay(2);
sum += adc.Ch(AIRSPEED_CH);
}
g.airspeed_offset.set_and_save(airspeed_raw);
sum /= c;
g.airspeed_offset.set_and_save((int16_t)sum);
}
#endif // HIL_MODE != HIL_MODE_ATTITUDE

8
ArduPlane/test.pde
View File

@ -459,7 +459,7 @@ test_adc(uint8_t argc, const Menu::arg *argv)
delay(1000);
while(1){
for (int i=0;i<9;i++) Serial.printf_P(PSTR("%u\t"),adc.Ch(i));
for (int i=0;i<9;i++) Serial.printf_P(PSTR("%.1f\t"),adc.Ch(i));
Serial.println();
delay(100);
if(Serial.available() > 0){
@ -630,9 +630,9 @@ test_mag(uint8_t argc, const Menu::arg *argv)
static int8_t
test_airspeed(uint8_t argc, const Menu::arg *argv)
{
unsigned airspeed_ch = adc.Ch(AIRSPEED_CH);
float airspeed_ch = adc.Ch(AIRSPEED_CH);
// Serial.println(adc.Ch(AIRSPEED_CH));
Serial.printf_P(PSTR("airspeed_ch: %u\n"), airspeed_ch);
Serial.printf_P(PSTR("airspeed_ch: %.1f\n"), airspeed_ch);
if (g.airspeed_enabled == false){
Serial.printf_P(PSTR("airspeed: "));
@ -648,7 +648,7 @@ test_airspeed(uint8_t argc, const Menu::arg *argv)
while(1){
delay(20);
read_airspeed();
Serial.printf_P(PSTR("%fm/s\n"), airspeed / 100.0);
Serial.printf_P(PSTR("%.1f m/s\n"), airspeed / 100.0);
if(Serial.available() > 0){
return (0);