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AP_Periph: add support for RawAirData.Pitot_temperature

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This commit is contained in:
Tom Pittenger 2023-08-01 12:13:22 -07:00 committed by Tom Pittenger
parent 8f13826383
commit 09de840c8e
1 changed files with 15 additions and 2 deletions
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17
Tools/AP_Periph/can.cpp
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@ -2400,8 +2400,6 @@ void AP_Periph_FW::can_airspeed_update(void)
}
uavcan_equipment_air_data_RawAirData pkt {};
pkt.differential_pressure = press;
pkt.static_air_temperature = temp;
// unfilled elements are NaN
pkt.static_pressure = nanf("");
@ -2409,6 +2407,21 @@ void AP_Periph_FW::can_airspeed_update(void)
pkt.differential_pressure_sensor_temperature = nanf("");
pkt.pitot_temperature = nanf("");
// populate the elements we have
pkt.differential_pressure = press;
pkt.static_air_temperature = temp;
// if a Pitot tube temperature sensor is available, use it
#if AP_TEMPERATURE_SENSOR_ENABLED
for (uint8_t i=0; i<temperature_sensor.num_instances(); i++) {
float temp_pitot;
if (temperature_sensor.get_source(i) == AP_TemperatureSensor_Params::Source::Pitot_tube && temperature_sensor.get_temperature(temp_pitot, i)) {
pkt.pitot_temperature = C_TO_KELVIN(temp_pitot);
break;
}
}
#endif
uint8_t buffer[UAVCAN_EQUIPMENT_AIR_DATA_RAWAIRDATA_MAX_SIZE] {};
uint16_t total_size = uavcan_equipment_air_data_RawAirData_encode(&pkt, buffer, !periph.canfdout());